Mitsubishi Electric MELSERVO-JN Series Instruction Manual page 402

13. POSITIONING MODE
13.6.3 Dog type home position return
This is a home position return method using the proximity dog. With deceleration started at the front end of the
proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has
been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
(1) Devices and parameters
Set the input devices and parameters as follows.
Item
Home position return mode
selection
Dog type home position return
Home position return direction
Dog input polarity
Home position return speed
Creep speed
Home position shift distance
Home position return acceleration
/deceleration time constants
Home position return position data
(2) Length of proximity dog
To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity dog
(DOG), the proximity dog should have the length which satisfies formulas (13.1) and (13.2).
V td
L                                          (13.1)
1
60 2
L : Proximity dog length [mm]
1
V : Home position return speed [mm/min]
Td : Deceleration time [s]
L 2 ΔS                                           (13.2)
2
L : Proximity dog length [mm]
2
ΔS : Travel distance per servo motor revolution [mm]
Device/Parameter used
Automatic/manual selection
(MD0)
Point table No./Program No.
selection 1 to 3
(DI0 to DI2)
Parameter No. PE03
Parameter No. PE03
Parameter No. PE03
Parameter No. PE04
Parameter No. PE05
Parameter No. PE06
Parameter No. PE07
Parameter No. PE08
13 - 51
Description
Turn MD0 ON.
Point table method: Select the home position return mode
by turning OFF DI0, DI1 and DI2.
Program method: Select a program that has the home
position return "ZRT" command.
0: Dog type home position return is selected.
Refer to section 13.6.1 (2) and select the home position
return direction.
Refer to section 13.6.1 (2) and select the proximity dog
input polarity.
Set the speed till the dog is detected.
Set the speed after the dog is detected.
Set when shifting the home position starting at the first Z-
phase signal after passage of proximity dog rear end.
Set the acceleration/deceleration time constants during a
home position return.
Set the current position at home position return completion.