Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Инструкция по эксплуатации

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5. HOW TO USE THE PROGRAM
5 - 40
5.4.2 Dog type home position return
This is a home position return method using a proximity dog. Deceleration starts at the front end of the
proximity dog. 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 shown below.
Item Used device/parameter Setting
Automatic operation mode of
the program method
MD0 (Operation mode selection 1) Switch on MD0.
Dog type home position
return
[Pr. PT04]
_ _ _ 0: Select the dog type (rear end detection/Z-
phase 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 item to shift the home position, which is
specified by the first Z-phase signal after the rear
end of a 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.
(2) Length of the proximity dog
To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the
length of the proximity dog that satisfies equations (5.1) and (5.2).
L
1
≥
V
60 •
td
2 ················································································································ (5.1)
L
1
: Length of the proximity dog [mm]
V: Home position return speed [mm/min]
td: Deceleration time [s]
L
2
≥
2 •
∆
S ··················································································································· (5.2)
L
2
: Length of the proximity dog [mm]
∆
S: Travel distance per servo motor revolution [mm]
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