Mitsubishi Electric MELSERVO-J3 Series Manual page 209

5. OPERATION
5.6.2 Dog type home position return
A home position return method using a 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, parameters
Set the input devices and parameters as follows.
Item
Manual home position return mode
selection
Remote register-based
position/speed setting
(Only when two stations are
occupied)
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 (5.1) and (5.2).
V td .............................................................................. (5.1)
L
1
60 2
L : Proximity dog length [mm]
1
V : Home position return speed [mm/min]
td : Deceleration time [s]
L 2 S.................................................................................... (5.2)
2
L : Proximity dog length [mm]
2
S : Moving distance per servo motor revolution [mm]
Device/Parameter used
Automatic/manual selection (RYn6)
Point table No. selection 1 to 8
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5)
Position/speed specifying system selection
(RY(n 2)A)
Parameter No.PC02
Parameter No.PC03
Parameter No.PD16
Parameter No.PC04
Parameter No.PC05
Parameter No.PC06
Point table No.1
Parameter No.PC07
5 - 34
Description
Turn RYn6 ON.
RYnA to RYnE, RY(n 2)3 to RY(n 2)5
are turned off.
Turn RY(n 2)A ON.
0 :Dog type home position return is
selected.
Refer to section 5.6.1 (2) and choose home
position return direction.
Refer to section 5.6.1 (2) and choose dog
input polarity.
Set speed until detection of dog.
Set speed after detection of dog.
Set when shifting the home position starting
at the first Z-phase signal after passage of
proximity dog rear end.
Use the acceleration/deceleration time
constants of point table No.1.
Set the current position at home position
return completion.