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

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5 - 50
5. OPERATION
5.6.11 Dog type front end reference home position return method
POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the front 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.
Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog
and the home position shift distance. A home position return that does not depend on the Z-phase signal can
be made. Changing the creep speed may change the home position.
(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 cradle type home position return Parameter No.PC02 9: Select the dog cradle type.
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 front end.
Travel 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.