6 POSITIONING CONTROL

6.23.10 Home position return by the stopper type 1(1) Stopper type 1

Position of stopper is home position in this method.

It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed" and "creep speed" of home position return data. Real position of servomotor at the time of detection for turning the torque limiting signal OFF to ON is home position.

Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.

(2) Home position return by the stopper type 1

Operation of home position return by the stopper type 1 is shown below.

V

Home position

Home position

return speed

 

 

return direction

 

 

 

 

 

 

 

 

Home position return start

Real position of servomotor at this point is home position.

Stopper

Creep speed

t

Time which stops rotation of servomotors forcibly by the stopper

Torque limit value

Torque limiting

signal (M2416+20n)

 

 

 

 

Torque limit value of

Home position return data

 

parameter block at the home

 

"torque limit value at the

 

position return

 

 

 

creep speed"

 

Proximity dog

 

 

 

 

 

 

 

 

 

 

 

ON

OFF

(Note): "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.

Fig. 6.41 Home position return operation by the stopper type 1

(3) Home position return execution

Home position return by the stopper type 1 is executed using the servo program in Section 6.23.16.

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