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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.
V
Home position
return direction
ON
Acceleration time Deceleration time
Home position
return speed
Creep speed
Home position
return start
Home position
Proximity dog
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".
Zero point
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.
1)
4)
3)
2)
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.