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4. OPERATION
4.4.3 Count type home position return
In count type home position return, a motion is made over the distance set in parameter No.43 (moving
distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-
phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms
or longer, there is no restriction on the dog length. This home position return method is used when the
required proximity dog length cannot be reserved to use dog type home position return or when the
proximity dog (DOG) is entered electrically from a controller or the like.
(1) Signals, parameters
Set the input signals and parameters as follows:
Item Device/Parameter used Description
Manual home position return
mode selection
Automatic/manual selection (MD0) MD0 is switched on.
Count type home position return Parameter No.8
1 : Count type home position return
is selected.
Home position return direction Parameter No.8
Refer to Section 4.4.1 (2) in this section
and choose home position return direction.
Dog input polarity Parameter No.8
Refer to Section 4.4.1 (2) in this section
and choose dog input polarity.
Home position return speed Parameter No.9 Set speed until detection of dog.
Creep speed Parameter No.10 Set speed after detection of dog.
Home position shift distance Parameter No.11
Set when shifting the home position,
starting at the first Z-phase signal given
after passage of the proximity dog front end
and movement over the moving distance.
Moving distance after proximity
dog
Parameter No.43
Set the moving distance after passage of
proximity dog front end.
Home position return
acceleration/deceleration time
constants
Parameter No.41
Use the acceleration/deceleration time
constants set in parameter No. 41.
Home position return position
data
Parameter No.42
Used to set the current position on
completion of home position return.
Program
Select the program including the "ZRT"
command that executes a home position
return.
(2) Timing chart
The following shows the timing chart that starts after selection of the program including the "ZRT"
command.
Home position return
completion (ZP)
Servo motor speed
Z-phase
Proximity dog (DOG)
Forward rotation
start (ST1)
Movement complete (PED)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
5ms or more
3ms or less
Proximity dog
Home position
shift distance
Parameter No. 11
Home position address
Parameter No. 42
Home position return
speed Parameter No. 9
Parameter No. 41
Acceleration time constant
Home position
Creep speed
Parameter No. 10
Parameter No. 41
Deceleration time
constant
Moving distance after
proximity dog
Parameter No. 43
Forward
rotation
0 r/min
The address on completion of home position return is the value automatically set in parameter No.42
(home position return position data).