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5. OPERATION
5.6.7 Dog type rear end reference home position return
POINT
This home position return method depends on the timing of reading Prox imity
dog (DOG) that has detected the rear end of a proximity dog. Hence, if a
home position return is made at the creep speed of 100r/min, an error of
400 pulses will occur in the home position. The error of the home pos ition is
larger as the creep speed is higher.
The position where the axis, which had started deceler ating at the front end of a proximity dog, has moved the
after-proximity dog moving distance and home posit ion shift distance after it passed the rear end is defined as
a home position. A home position return that d oes not depend on the Z-phase signal can be m ade.
(1) Devices, parameters
Set the input devices and parameters as indicate d below.
Item Device/Parameter used Description
Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
selection Point table No. selection 1 to 8
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5)
RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are
turned off.
Remote register-based
position/speed setting
(Only when two stations are
occupied)
Position/speed specifying system selection
(RY(n 2)A) Turn RY(n 2)A ON.
Dog type rear end reference home
position return Parameter No.PC02 5: Select the dog type rear end
reference.
Home position return direction Parameter No.PC03 Refer to section 5.6.1 (2) and select the home
position return direction.
Dog input polarity Parameter No.PD16 Refer to section 5.6.1 (2) and select the dog
input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06
Set when the home position is moved from
where the axis has passed the proximity dog
rear end.
Moving distance after proximity dog Parameter No.PC08 Set the moving distance after the axis has
passed the proximity dog rear end.
Home position return acceleration/
deceleration time constants Point table No.1 Use the acceleration/deceleration time
constant of point table No.1.
Home position return position data Parameter No.PC07 Set the current position at home posit ion return
completion.