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6 POSITIONING CONTROL
6.23.2 Home position return by the proximity dog type 1
(1) Proximity dog type 1
Zero point position after proximity dog ON to OFF is home position in this
method.
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, an
error will occur and home position return is not executed. However, when "1 : Not
need to pass motor Z phase after the power supply is switched on" is selected
in the "function selection C-4" of servo parameter (expansion setting parameter),
if it does not pass zero point from home position return start to deceleration stop
by proximity dog ON to OFF, the home position return can be executed.
(2) Home position return by the proximity dog type 1
Operation of home position return by proximity dog type 1 for passing (zero pass
signal: M2406+20n ON) the zero point from home position return start to
deceleration stop by proximity dog ON to OFF is shown below.
Creep speed
Home position
return start
V
Home position
return direction
Home position return speed
Proximity dog
ON
OFF
Zero point
The travel value in this range is stored
in the monitor register "travel value
after proximity dog ON".
t
The travel value in this range is stored
in the monitor register "home position
return re-travel value".
The distance to the zero point is
based on the servo data.
(Note) :
A deceleration stop occurs after
the proximity dog OFF.
Positioning is carried out from this
position to the zero point.
Fig. 6.33 Home position return operation by the proximity dog type 1
(3) Home position return execution
Home position return by the proximity dog type 1 is executed using the servo
program in Section 6.23.16.