Mitsubishi Electronics MR-J2S- CL specifications Count type home position return

4. OPERATION

4.4.3 Count type home position return

In count type home position return, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z- phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length. This home position return method is used when the required proximity dog length cannot be reserved to use dog type home position return or when the proximity dog (DOG) is entered electrically from a controller or the like.

(1)Signals, parameters

Set the input signals and parameters as follows:

Item	Device/Parameter used	Description
Manual home position return	Automatic/manual selection (MD0)	MD0 is switched on.
mode selection
Count type home position return	Parameter No.8	1: Count type home position return
		is selected.
Home position return direction	Parameter No.8	Refer to Section 4.4.1 (2) in this section
		and choose home position return direction.
Dog input polarity	Parameter No.8	Refer to Section 4.4.1 (2) in this section
		and choose dog input polarity.
Home position return speed	Parameter No.9	Set speed until detection of dog.
Creep speed	Parameter No.10	Set speed after detection of dog.
		Set when shifting the home position,
Home position shift distance	Parameter No.11	starting at the first Z-phase signal given
		after passage of the proximity dog front end
		and movement over the moving distance.
Moving distance after proximity	Parameter No.43	Set the moving distance after passage of
dog		proximity dog front end.
Home position return		Use the acceleration/deceleration time
acceleration/deceleration time	Parameter No.41
		constants set in parameter No. 41.
constants
Home position return position	Parameter No.42	Used to set the current position on
data		completion of home position return.
	Select the program including the "ZRT"
Program	command that executes a home position
	return.

(2)Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT" command.

Movement complete (PED) ONOFF

Home position return	ON			Home position
completion (ZP)	OFF		Parameter No. 41
Parameter No. 41		Home position return		shift distance
			Deceleration time
Acceleration time constant		speed Parameter No. 9	constant	Parameter No. 11
			Creep speed	Home position
Forward			Parameter No. 10
Servo motor speed rotation		3ms or less
0 r/min
		Moving distance after Proximity dog
				Home position address
		proximity dog
				Parameter No. 42
		Parameter No. 43
Z-phase	ON
	OFF
Proximity dog (DOG)	ON
	OFF	5ms or more
Forward rotation	ON
start (ST1)	OFF

The address on completion of home position return is the value automatically set in parameter No.42 (home position return position data).

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