Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

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5. OPERATION
5.6.7 Dog type rear end reference home position return
POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the rear end of a proximity dog. Hence, if a
home position return is made at the creep speed of 100r/min, an error of
400 pulses will occur in the home position. The error of the home position is
larger as the creep speed is higher.
The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the
after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as
a home position. A home position return that does not depend on the Z-phase signal can be made.
(1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode
selection
Automatic/manual selection (RYn6) Turn RYn6 ON.
Point table No. selection 1 to 8
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are
turned off.
Remote register-based
position/speed setting
(Only when two stations are
occupied)
Position/speed specifying system selection
(RY(n 2)A)
Turn RY(n 2)A ON.
Dog type rear end reference home
position return
Parameter No.PC02
5: Select the dog type rear end
reference.
Home position return direction Parameter No.PC03
Refer to section 5.6.1 (2) and select the home
position return direction.
Dog input polarity Parameter No.PD16
Refer to section 5.6.1 (2) and select the dog
input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06
Set when the home position is moved from
where the axis has passed the proximity dog
rear end.
Moving distance after proximity dog Parameter No.PC08
Home position return acceleration/
deceleration time constants
Point table No.1
Use the acceleration/deceleration time
constant of point table No.1.
Home position return position data Parameter No.PC07
Set the current position at home position return
completion.