Zero point

6 POSITIONING CONTROL

6.23.3 Home position return by the proximity dog type 2

(1) Proximity dog type 2

Zero point position after proximity dog ON to OFF is home position in this method.

When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog type 2" is the same as "proximity dog type 1". (Refer to Section 6.23.2)

When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, it moves to home position return direction after the servomotor is rotated one revolution to reverse direction and it passed the zero point, and the first zero point position is set as home position after proximity dog ON to OFF.

(2) Home position return by the proximity dog type 2

Operation of home position return by proximity dog type 2 for not passing the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown below.

V Home position

Home position

 

 

 

 

 

 

 

 

 

 

return speed

return direction

5)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Creep speed

1)

2)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

3)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Home position

 

Home position

 

 

 

 

 

 

 

 

 

return start

 

 

 

 

 

 

 

 

 

 

 

4)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Home position return speed

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1 revolution

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Proximity dog

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Zero point no passing

 

 

 

 

 

 

 

 

 

 

1)It travels to preset direction of home position return with the home position return speed.

2)A deceleration is made to the creep speed by the proximity dog ON, after that, it travels with

the creep speed. (If the proximity dog turns OFF during a deceleration, a deceleration stop is made and the operation for 4) starts.)

3)A deceleration stop is made by the proximity dog OFF.

4)After a deceleration stop, it travels for one revolution of servomotor to reverse direction of home position return with the home position return speed.

5)It travels to direction of home position return with the home position return speed, the home position return ends with first zero point after the proximity dog ON to OFF. (At this time, a deceleration to the creep speed is not made with the proximity dog OFF to ON . And

if the zero point is not passed because of droop pulses for processing of 4) and 5), a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and the home position return does not end

The travel value in this range is stored in the monitor register "travel value after proximity dog ON".

The travel value in this range is stored in the monitor register "home position return re-travel value".

Fig. 6.34 Home position return operation by the proximity dog type 2 (zero point no passing)

(3) Home position return execution

Home position return by the proximity dog type 2 is executed using the servo program in Section 6.23.16.

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