6 POSITIONING CONTROL

6.23.9 Home position return by the dog cradle type(1) Dog cradle type

After deceleration stop by the proximity dog ON, if the zero point is passed after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made. And it moves to direction of home position return again with creep speed and the first zero point after proximity dog ON is home position in this method.

(2) Home position return by the dog cradle type

Operation of home position return by the dog cradle type for setting the proximity dog in the home position return direction is shown below.

Acceleration time Deceleration time

V

Home position

Home position

return direction

return speed

1)

Creep speed 4)

Home position

 

Home position

return start

 

3) 2)

1)It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON.

2)After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.

3)If the zero point is passed by the proximity dog OFF, a deceleration stop is made.

4)After a deceleration stop, it travels to direction of home position return with the creep speed, the home position return ends with first zero point after the proximity dog ON.

The travel value in this range is stored in the monitor

register "home position return re-travel value".

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

Proximity dog

ON

Zero point

Fig. 6.40 Home position return operation by the dog cradle type

(3) Home position return execution

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

(4)Cautions

(a)When home position return retry function is not set, if home position return is executed again after home position return end, a minor error "home position return completion signal is turning ON at the dog cradle type home position return start" (error code: 115) will occur, the home position return is not executed.

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