Dog Type Homing - Mitsubishi Electric MR-JE-*C Instruction Manual

12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE

12.4.2 Dog type homing

This is a homing type using a proximity dog. Deceleration starts at the front end of the proximity dog. After
the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase
signal shifted by the specified home position shift distance is used as the home position.
(1) Device/parameter
Set input devices and parameters as follows:
Item
Homing mode selection
Home position return
direction
Dog input polarity
Home position return speed
Creep speed
Home position shift distance
Acceleration time
constant/deceleration time
constant of homing
Homing position data
(2) Length of the proximity dog
Set the length of the proximity dog to satisfy the equations (12.1) and (12.2) so that the Z-phase signal
of the servo motor is generated during the detection of DOG (proximity dog).
V td
≥
L • ·············································································································· (12.1)
1
60 2
L : Length of the proximity dog [mm]
1
V: Homing speed [mm/min]
td: Deceleration time [s]
≥ 2 • ΔS ·················································································································· (12.2)
L
2
L : Length of the proximity dog [mm]
2
ΔS: Travel distance per servo motor revolution [mm]
Device/parameter to be used
MD0 (Operation mode selection 1)
DI0 (Point table No. selection 1) to DI7 (Point
table No. selection 8)
[Pr. PT45 Home position return types]
[Pr. PT29 Function selection T-3]
[Pr. PT05 Home position return speed]
[Pr. PT06 Creep speed]
[Pr. PT07 Home position shift distance], [Pr.
PT57 Home position shift distance (extension
parameter)]
[Pr. PT61 Home position return acceleration
time constant] or [Pr. PT62 Home position
return deceleration time constant]
[Pr. PT08 Home position return position data],
[Pr. PT58 Home position return position data
(extension parameter)]
Switch on MD0.
Switch off DI0 to DI7.
Select the homing direction with [Pr. PT45]. The
setting is shown as follows:
Address increasing direction: -1
Address decreasing direction: -33
Refer to section 12.4.1 (2) (b) to select the proximity
dog input polarity.
Set the rotation speed until a dog is detected.
Set the rotation speed after a dog is detected.
Set these parameters when shifting the home position
from the first Z-phase signal after the rear end of the
proximity dog is passed.
The acceleration/deceleration time constant of [Pr.
PT61] or [Pr. PT62] is used.
Set [Pr. PT60 Function selection T-8] to select the
parameters to be used.
Set the current position at the time of homing
completion.
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Setting