Dog Type Home Position Return - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

5. HOW TO USE THE PROGRAM

5.4.2 Dog type home position return

This is a home position return method 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 shown below.
Item
Automatic operation mode of
the program method
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 time constant
Home position return
deceleration time constant
Home position return position
data
Program
(2) Length of the proximity dog
To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the
length of the proximity dog that satisfies equations (5.1) and (5.2).
V td
≥
L • ················································································································ (5.1)
1
60 2
L : Length of the proximity dog [mm]
1
V: Home position return speed [mm/min]
td: Deceleration time [s]
≥ 2 • ∆S ··················································································································· (5.2)
L
2
L : Length of the proximity dog [mm]
2
∆S: Travel distance per servo motor revolution [mm]
Used device/parameter
MD0 (Operation mode selection 1)
[Pr. PT04]
[Pr. PT04]
[Pr. PT29]
[Pr. PT05]
[Pr. PT06]
[Pr. PT07]
[Pr. PC30]
[Pr. PC31]
[Pr. PT08]
DI0 (Program No. selection 1) to
DI7 (Program No. selection 8)
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Setting
Switch on MD0.
_ _ _ 0: Select the dog type (rear end detection/Z-
phase reference).
Refer to (2) of section 5.4.1 to select the home
position return direction.
Refer to (2) of section 5.4.1 to select the dog input
polarity.
Set the rotation speed specified until a dog is
detected.
Set the rotation speed specified after a dog is
detected.
Set this item to shift the home position, which is
specified by the first Z-phase signal after the rear
end of a proximity dog is passed.
The acceleration time constant set for [Pr. PC30]
is used.
The deceleration time constant set for [Pr. PC31]
is used.
Set the current position at the home position return
completion.
Select a program containing a "ZRT" command,
which performs the home position return.