Mitsubishi MR-JE-100A, Instruction Manual

Page: 194 / 396

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 the 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 200 pulses (for HG series servo motor). The
higher the creep speed, the greater the error of the home position.
After the front end of the proximity dog is detected, if 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 follows:
Item Device/parameter to be used 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 section 5.4.1 (2) to select the home
position return direction.
Dog input polarity [Pr. PT29]
Refer to section 5.4.1 (2) 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 rear end of the proximity
dog is passed.
Travel distance after proximity
dog
[Pr. PT09]
Set the travel distance after the rear end of
the proximity dog is passed.
Acceleration time constant of
home position return
[Pr. PC30]
The acceleration time constant set for [Pr.
PC30] is used.
Deceleration time constant of
home position return
[Pr. PC31]
The deceleration time constant set for [Pr.
PC31] is used.
Home position return position
data
[Pr. PT08]
Set the current position when the home
position return completed.
Program
DI0 (Program No. selection 1) to
DI3 (Program No. selection 4)
Select a program containing a "ZRT"
command, which performs the home position
return.