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4. OPERATION
4.4.7 Dog type rear end reference home position return
POINT
This home position return method depends on the timing of reading
Proximity dog (DOG) that has detected the rear end of a proximity dog.
Hence, if a home position return is made at the creep speed of 100r/min, an
error of
200 pulses will occur in the home position. The error of the home
position is larger as the creep speed is higher.
The position where the axis, which had started decelerating at the front end of a proximity dog, has
moved the after-proximity dog moving distance and home position shift distance after it passed the rear
end is defined as a home position. A home position return that does not depend on the Z-phase signal can
be made.
(1) Signals, parameters
Set the input signals and parameters as indicated below.
Item Device/Parameter used Description
Automatic/manual selection (MD0) Short (turn on) MD0-SG.
Point table No. selection 1 (DI0) Open (turn off) DI0-SG.
Manual home position return mode
selection
Point table No. selection 2 (DI1) Open (turn off) DI1-SG.
Dog type rear end reference home
position return
Parameter No.8
5: Select the dog type rear end reference.
Home position return direction Parameter No.8 Refer to section 4.4.1 (2) and select the home position return direction.
Dog input polarity Parameter No.8 Refer to section 4.4.1 (2) and select the dog input polarity.
Home position return speed Parameter No.9 Set the speed till the dog is detected.
Creep speed Parameter No.10 Set the speed after the dog is detected.
Home position shift distance Parameter No.11
Set when the home position is moved from where the axis has passed
the proximity dog rear end.
Moving distance after proximity dog Parameter No.43
Set the moving distance after the axis has passed the proximity dog
rear end.
Home position return acceleration/
deceleration time constants
Point table No.1 Use the acceleration/deceleration time constant of point table No. 1.
Home position return position data Parameter No.42 Use to set the current position on completion of home position return.
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Automatic/manual
selection (MD0)
Movement finish (MEND)
Rough match (CPO)
Home position return
completion (ZP)
Servo motor speed
Proximity dog (DOG)
Forward rotation start (ST1)
Home position return speed
Creep speed
Moving distance after proximity dog
Home position shift distance
Proximity dog
5ms or more
3ms or less
Home position address
Parameter No. 42
Reverse rotation start (ST2)
ON
OFF
The parameter No.42 (home position return position data) setting value is the positioning address
after the home position return is completed.