Chapter 2 Home Position Return Control; Outline Of Home Position Return Control; Two Types Of Home Position Return Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

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HOME POSITION RETURN CONTROL
The details and usage of "home position return control" are explained in this chapter.
2.1

Two types of home position return control

In "home position return control", a position is established as the starting (or "home position") when carrying out positioning
control, and positioning is carried out toward that starting point.
It is used to return a machine system at any position other than the home position to the home position when the Motion
module issues a "home position return request" with the power turned ON or others, or after a positioning stop.
In the Motion module, the following two control types are defined as "home position return control", following the flow of the
home position return. These two types of home position return control can be executed by setting the "home position return
parameters", setting "Positioning start No.9001" and "positioning start No.9002" prepared beforehand in the Motion module to
"[Cd.3] Positioning start No.", and turning ON the positioning start signal.
Home position return method
Machine home position return (positioning start No.9001)
Fast home position return (positioning start No.9002)
The "machine home position return" above must be carried out in advance to execute the "fast home position return".
CAUTION
• When using an absolute position system, execute a home position return always at the following cases: on starting up and when the controller or absolute
position motor has been replaced. Check the home position return request signal using the program, etc. before performing the positioning control. Failure to
observe this could lead to an accident such as a collision.
The address information stored in the Motion module cannot be guaranteed while the "home position return request flag" is
ON.
The "home position return request flag" turns OFF and the "home position return complete flag" ([Md.31] Status: b4) turns ON
if the machine home position return is executed and is completed normally.
The "home position return request flag" ([Md.31] Status: b3) must be turned ON in the Motion module, and a machine home
position return must be executed in the following cases.
When not using an absolute position system
• This flag turns on in the following cases:
• System's power supply on or reset
• Servo amplifier power supply on
• Machine home position return start (Unless a machine home position return is completed normally, the home position return request flag does not turn off.)
• When "Electronic gear numerator (PA06)", "Electronic gear denominator (PA07)", "Linear encoder resolution setting - Numerator (PL02)", or "Linear encoder
resolution setting - Denominator (PL03)" of the servo amplifier is changed
• When the drive unit object "HomeOffset (607CH)" is changed
• This flag turns off by the completion of machine home position return.
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Outline of Home Position Return Control

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Home position return method operation details
Executes the home position return operation to establish a machine home position. The following
positioning control is executed based on the home position established by the home position return
completion. The machine home position return is required when the machine home position has
not been established (the current value monitor of the Motion module and the actual machine
position are not matched) due to the power supply ON of the system, etc.
Executes the positioning to the home position established by a machine home position return. The
fast home position return is operated by specifying the positioning start No.9002, so that the
positioning which returns to the home position can be executed without setting the positioning data.
2 HOME POSITION RETURN CONTROL
2.1 Outline of Home Position Return Control
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