Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 176 / 610

4. HOW TO USE THE POINT TABLE
4 - 49
4.4.2 Dog type home position return
This home position return type uses a proximity dog. Deceleration starts at the proximity dog front end. 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 follows.
Item Used device/parameter Setting
Home position return mode
selection
MD0 (Operation mode selection 1) Switch on MD0.
DI0 (Point table No. selection 1) to
DI7 (Point table No. selection 8)
Switch off DI0 to DI7.
Dog type home position
return
[Pr. PT04] _ _ _ 0: Select the dog type.
Home position return
direction
[Pr. PT04]
Refer to section 4.4.1 (2) to select the home
position return direction.
Dog input polarity [Pr. PT29]
Refer to section 4.4.1 (2) to select the
proximity dog input polarity.
Home position return speed [Pr. PT05]
Set the rotation speed until the dog is
detected.
Creep speed [Pr. PT06]
Set the rotation speed after the dog is
detected.
Home position shift distance [Pr. PT07]
Set this item to shift the home position
specified by the first Z-phase signal after
passage of proximity dog rear end.
Home position return
acceleration/deceleration time
constant
Point table No. 1
Use the acceleration/deceleration time
constant of point table No. 1.
Home position return position
data
[Pr. PT08]
Set the current position at the home position
return completion.
(2) Proximity dog length
To generate the Z-phase signal of the servo motor during the DOG (Proximity dog) detection, the
proximity dog length should satisfy formulas (4.1) and (4.2).
L
1
≥
V
60 •
td
2 ················································································································ (4.1)
L
1
: Proximity dog length [mm]
V: Home position return speed [mm/min]
td: Deceleration time [s]
L
2
≥
2 •
∆
S ··················································································································· (4.2)
L
2
: Proximity dog length [mm]
∆
S: Travel distance per servo motor revolution [mm] (Note)
Note. For linear servo motor: travel distance per stop interval selection at the home position return of [Pr. PL01]
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