Home Position Return By The Dog Cradle Method - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Home position return by the dog cradle method

Dog cradle method
After deceleration stop by the proximity dog ON, it travels to reverse direction. If the zero point is passed ("[St.1066] Zero pass
(R: M32406+32n/Q: M2406+20n)" ON) after traveling to reverse direction and turning the proximity dog OFF, a deceleration
stop is made. It then moves in the direction of home position return again with creep speed and the first zero point after
proximity dog ON is home position in this method.
Home position return by the dog cradle method
Operation of home position return by the dog cradle method for setting the proximity dog in the home position return direction
is shown below.
º
Acceleration time Deceleration time
Home position
return direction
V
Creep speed
Home position
return start
Proximity dog
ON
Home position return execution
Home position return by the dog cradle method is executed using the servo program (Page 378 Servo program for home
position return).
Home position
It travels to preset direction of home position return with
(1)
return speed
the home position return speed, and a deceleration stop
is made by the proximity dog ON.
(2) After a deceleration stop, it travels to reverse direction of
home position return with the home position return speed.
(1)
(3) A deceleration stop is made when proximity dog turns
OFF and zero point is passed.
After a deceleration stop, it travels to direction of home
(4)
(4)
position return with the creep speed, the home position
return ends with first zero point after the proximity dog ON.
Home position
(3)
(2)
The travel value in this range is stored in the monitor
register "home position return re-travel value".
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
Zero point
5 POSITIONING CONTROL
5.21 Home Position Return
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