Mitsubishi HD-5000A Instruction Manual download pdf (Page 127)

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4. OPERATION

4.4.5 Stopper type home position return

In stopper type home position return, a machine part is pressed against a stopper or the like by jog

operation, manual pulse generator operation or the like to make a home position return and that position

is defined as a home position.

(1) Signals, parameters

Set the input signals and parameters as follows.

Item Device/Parameter used Description

Manual home position

return mode selection

Automatic/manual selection (MD0) MD0 is switched on.

Stopper type home position

return

Parameter No.8

3 : Stopper type home position return is

selected.

Home position return

direction

Parameter No.8

Refer to section 4.4.1 (2) and choose the home

position return direction.

Home position return speed Parameter No.9 Set the speed till contact with the stopper.

Stopper time Parameter No.44

Time from when the part makes contact with

the stopper to when home position return data

is obtained to output home position return

completion (ZP).

Stopper type home position

return torque limit

Parameter No.45

Set the servo motor torque limit value for

execution of stopper type home position return.

Home position return

acceleration/deceleration

time constant

Parameter No.41

Use the acceleration/deceleration time

constants set in parameter No. 41.

Home position return

position data

Parameter No.42

Used to set the current position on completion

of home position return.

Program

Select the program including the "ZRT"

command that executes a home position

return.

(2) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT"

command.

OFF

0r/min

OFF

Home position return

completion (ZP)

Forward rotation

start (ST1)

3ms or less

Home position address

Parameter No. 42

5ms or more

Limiting torque (TLC)

Torque limit value

Stopper

Parameter No. 28

Parameter No. 45

Parameter No. 28

Stopper time

Parameter No. 44

Movement complete (PED)

Automatic/manual

selection (MD0)

Parameter No.41

Acceleration time constant

Home position return

speed Parameter No.9

Servo motor speed

Reverse rotation

start (ST2)

Forward

rotation

The parameter No.42 setting value is the positioning address after the home position return is

completed.

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Mitsubishi HD-5000A Instruction Manual Page 127

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