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Chapter 8 HPR Control
8.2.2 Machine HPR method
The method by which the machine HP is established (method for judging the HP and
machine HPR completion) is designated in the machine HPR according to the
configuration and application of the positioning method.
The following table shows the methods that can be used for this HPR method.
(The HPR method is one of the items set in the HPR parameters. It is set in "[Pr.43]
HPR method" of the basic parameters for HPR.)
[Pr.43] HPR method Operation details
Proximity dog method
[RJ010 mode]
Deceleration starts by the OFF
ON of the proximity dog. (Speed is reduced to "[Pr.47]
Creep speed".)
The operation stops once after the proximity dog turns ON and then OFF. Later the
operation restarts and then stops at the first zero signal to complete the HPR.
Count method 1)
[RJ010 mode]
The deceleration starts by the OFF
ON of the proximity dog, and the machine moves
at the "[Pr.47] Creep speed".
The machine stops once after moving the distance set in the "[Pr.50] Setting for the
movement amount after proximity dog ON" from the OFF
ON position. Later the
operation restarts and then stops at the first zero point to complete the machine HPR.
Count method 2)
[RJ010 mode]
The deceleration starts by the OFF
ON of the proximity dog, and the machine moves
at the "[Pr.47] Creep speed.
The machine moves the distance set in the "[Pr.50] Setting for the movement amount after
proximity dog ON" from the proximity dog OFF
ON position, and stops at that position.
The machine HPR is then regarded as completed.
Data set method
[RJ010 mode]
The position where the machine HPR has been performed becomes an HP.
The feed current value and feed machine value are overwritten to the HP address.
Scale origin signal
detection method
[RJ010 mode]
The machine moves in the opposite direction against of "[Pr.44] HPR direction" at the
"[Pr.46] HPR speed" by the OFF
ON of the proximity dog, and a deceleration stop is
carried out once at the first zero signal. Later the operation moves in direction of "[Pr.44]
HPR direction" at the "[Pr.47] Creep speed", and then stops at the detected nearest zero
point to complete the machine HPR.
Driver HPR method
[CiA402 mode]
The servo amplifier is switched to the HPR mode and the HPR set in the servo amplifier
starts. After the HPR is completed, the servo amplifier is returned to the previous control
mode.
REMARK
Creep speed
The stopping accuracy is poor when the machine rapidly stops from fast speeds.
To improve the machine's stopping accuracy, it is required to slow down the speed
before it stops. This speed is set in the "[Pr.47] Creep speed".
The following shows the signals as required for machine HPR.
[Pr.43] HPR method
Signals required for control
Proximity dog Zero signal Upper/lower limit
Proximity dog method
[RJ010 mode]
Count method 1)
Count method 2)
Data set method
Scale origin signal detection method
Driver HPR method [CiA402 mode]
(Note-1)
(Note-1)
(Note-1)
: Necessary, : Necessary as required, : Unnecessary
(Note-1): Confirm the HPR specification of the servo amplifier for the signals required for control.
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