16.12.3 Dog type home position return
This is a home position return method using a proximity dog. Deceleration starts at the front end of the
proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position
of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.
(1) Device/parameter
Set input devices and parameters as shown below.
Automatic operation mode of
the program method
MD0 (Operation mode selection 1)
Dog type home position
return
_ _ _ 0: Select the dog type (rear end detection/Z-
phase reference).
Home position return
direction
Refer to (2) of section 5.4.1 to select the home
position return direction.
Refer to (2) of section 5.4.1 to select the dog input
polarity.
Home position return speed
Set the rotation speed specified until a dog is
detected.
Set the rotation speed specified after a dog is
detected.
Home position shift distance
Set this item to shift the home position, which
is specified by the first Z-phase signal after the
rear end of a proximity dog is passed.
Home position return
acceleration time constant
The acceleration time constant set for [Pr. PC30]
is used.
Home position return
deceleration time constant
The deceleration time constant set for [Pr. PC31]
is used.
Home position return position
data
Set the current position at the home position
return completion.
DI0 (Program No. selection 1) to
DI7 (Program No. selection 8)
Select a program containing a "ZRT" command,
which performs the home position return.
(2) Length of the proximity dog
To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the
length of the proximity dog that satisfies equations (5.1) and (5.2).
L
1
≥ • ················································································································ (5.1)
L
1
: Length of the proximity dog [mm]
V: Home position return speed [mm/min]
td: Deceleration time [s]
L
2
≥ 2 • ΔS ··················································································································· (5.2)
L
2
: Length of the proximity dog [mm]
ΔS: Travel distance per servo motor revolution [mm]
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