8 AUXILIARY AND APPLIED FUNCTIONS
8.5.10 Home position return by the stopper type 1
(1) Stopper type 1
Position of stopper is home position in this method.
It travels to the direction set in the "home position return direction" with the "home
position return speed", after a deceleration starts by proximity dog OFF to ON
and it presses against the stopper and makes to stop with the torque limit value
set in the "torque limit value at the creep speed" and "creep speed" of home
position return data. Real position of servomotor at the time of detection for
turning the torque limiting signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at
the creep speed" of home position return data.
(2) Home position return by the stopper type 1
Operation of home position return by the stopper type 1 is shown below.
Torque limit value of
parameter block at the home
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.
Fig. 8.12 Home position return operation by the stopper type 1
(3) Home position return execution
Home position return by the stopper type 1 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the stopper type 1 home position
return is also made even G28 of the Motion program.
Time which stops rotation of
servomotors forcibly by the
Home position return data "torque limit
value at the creep speed"
8 - 39
Real position of servomotor
at this point is home position.