Mitsubishi Electric MELSEC-Q Series User Manual page 610

(3) Setting the dwell time during an HPR retry
The HPR retry function can perform such function as the dwell time using
"[Pr.57] Dwell time during HPR retry" when the reverse run operation is
carried out due to detection by the limit signal for upper and lower limits and
when the machine HPR is executed after the proximity dog is turned OFF to
stop the operation.
"[Pr.57] Dwell time during HPR retry" is validated when the operation stops
at the "A" and "B" positions in the following drawing. (The dwell time is the
same value at both positions "A" and "B".)
Machine HPR
executed again
B
Stop by proximity
dog OFF
Proximity dog
Zero signal
Fig. 13.3 Setting the dwell time during an HPR retry
[2] Precaution during control
(1) The following table shows whether the HPR retry function may be executed
by the "[Pr.43] HPR method".
Proximity dog method
Count method 1)
Count method 2)
Data set method
Scale origin signal detection method
Driver HPR method
(2) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine. If the HPR retry function is used without hardware stroke
limit switches, the motor will continue rotation until a hardware stroke limit
signal is detected.
(3) Do not configure a system so that the servo amplifier power turns OFF by
the upper/lower limit switches. If the servo amplifier power is turned OFF,
the HPR retry cannot be carried out.
(4) The operation decelerates upon detection of the hardware limit signal, and
the movement starts in the opposite direction. In this case, however, the
error "Hardware stroke limit (+)" (error code: 104) or "Hardware stroke limit (-
)" (error code: 105) does not occur.
HP
[Pr.43] HPR method
[RJ010 mode]
[CiA402 mode]
13 - 6
Chapter 13 Control Sub Functions
Pr. 44
HPR direction
Machine HPR start
Reverse run operation
after limit signal detection
Limit signal OFF
Hardware limit switch
Execution status of HPR retry function
: Execution possible
: Execution possible
: Execution possible
: Execution not possible
Stop by limit
signal detection
A