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

Page: 256 / 610

5. HOW TO USE THE PROGRAM
5 - 49
5.4.8 Count type front end reference home position return
POINT
This home position return method depends on the timing of reading DOG
(Proximity dog) that has detected the front end of a proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of 6400 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.
After the front end of a proximity dog is detected, when a home position return
ends without reaching the creep speed, [AL. 90.2] occurs. Set the travel
distance after proximity dog and the home position shift distance enough for
deceleration from the home position return speed to the creep speed.
(1) Device/parameter
Set input devices and parameters as shown below.
Item Used device/parameter Setting
Automatic operation mode of
the program method
MD0 (Operation mode selection 1) Switch on MD0.
Count type front end
reference home position
return
[Pr. PT04]
_ _ _ 6: Select the count type (front end detection/
front end reference).
Home position return
direction
[Pr. PT04]
Refer to (2) of section 5.4.1 to select the home
position return direction.
Dog input polarity [Pr. PT29]
Refer to (2) of section 5.4.1 to select the dog input
polarity.
Home position return speed [Pr. PT05]
Set the rotation speed specified until a dog is
detected.
Creep speed [Pr. PT06]
Set the rotation speed specified after a dog is
detected.
Home position shift distance [Pr. PT07]
Set this to shift the home position, which is
specified after the front end of a proximity dog is
passed.
Travel distance after proximity
dog
[Pr. PT09]
Set the travel distance specified after the front end
of the proximity dog is passed.
Home position return
acceleration time constant
[Pr. PC30]
The acceleration time constant set for [Pr. PC30]
is used.
Home position return
deceleration time constant
[Pr. PC31]
The deceleration time constant set for [Pr. PC31]
is used.
Home position return position
data
[Pr. PT08]
Set the current position at the home position return
completion.
Program
DI0 (Program No. selection 1) to
DI7 (Program No. selection 8) Select a program containing a "ZRT" command,
which performs the home position return.
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