Home Position Return; Zeroing Data - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.21

Home Position Return

7.21.1

Zeroing data

No. Item mm
Setting Range
Zeroing 0: reverse direction (decreased address)
1
direction 1: forward direction (increased address)
0: near-zero point dog method
Zeroing
2 1: count method
method
2: data set method
Home
–2147483648
3 position
to 2147483647
address
Zeroing 0.01 to
4
speed 6000000.00
Creep 0.01 to
5
speed 6000000.00
Travel
value after 0 to
6
proximity 214748364.7
dog
Parameter
7 block
setting
(1) Use zeroing at power on and other times where confirmation that axis is at the
machine home position is required.
(2) The following three methods of home position return are available:
• Proximity dog method
• Count method
• Data set method..........................Recommended for an absolute-position
(3) To carry out zeroing, the zeroing data must be set for each axis.
The zeroing data is the data required to carry out zeroing.
Set the zeroing data from a peripheral device.
Table 7.3 Table of Home Position Return Data
Setting Range
inch
Units Setting Range Units Setting Range
×10 -1 ×10 -5
–2147483648
0 to 35999999
µ m
to 2147483647 inch
mm/ 0.001 to inch/
min 600000.000 min 2147483.647
mm/ 0.001 to inch/
min 600000.000 min 2147483.647
0 to
µ m
inch
21474.83647 21474.83647
1 to 64
Used when not using an absolute position
system
system
degree PULSE
Units Setting Range
×10 -5
–2147483648
degree to 2147483647
degree
0.001 to
/ 1 to 10000000
min
degree
0.001 to
/ 1 to 10000000
min
0 to 0 to
degree
2147483647
7 − 141
Default
Remarks
Initial
Value
Units
• Sets the direction for zeroing.
0
• Sets the zeroing method.
• The proximity dog method or
count method is recom-
mended for a servo amplifier
0 which does not support ab-
solute data, and the data set
method is recommended for
a servo amplifier which sup-
ports absolute data.
• Sets the current value of the
home position after zeroing.
• It is recommended that the
PLS 0
home position address is set
at the stroke limit upper limit
or lower limit.
• Sets the speed for zeroing.
PLS/s 1
• Sets the creep speed (low
speed immediately before
PLS/s 1 stopping after deceleration
from zeroing speed) after the
proximity dog.
• Sets the travel value after the
proximity dog for the count
method.
−
PLS
• Set more than the decelera-
tion distance at the zeroing
speed.
• Sets the parameter block to
1 use for zeroing (see Section
4.4).
Explan-
atory
Section
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7.21.1
(1)
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