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4. OPERATION
4.4.5 Stopper type home position return
In stopper type home position return, a machine part is pressed against a stopper or the like by jog
operation, manual pulse generator operation or the like to make a home position return and that position
is defined as a home position.
(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.
Stopper type home position
return
Parameter No.8
3 : Stopper type home position return is
selected.
Home position return
direction
Parameter No.8
Refer to Section 4.4.1 (2) and choose the home
position return direction.
Home position return speed Parameter No.9 Set the speed till contact with the stopper.
Stopper time Parameter No.44
Time from when the part makes contact with
the stopper to when home position return data
is obtained to output home position return
completion (ZP)
Stopper type home position
return torque limit
Parameter No.45
Set the servo motor torque limit value for
execution of stopper type home position return.
Home position return
acceleration/deceleration
time constant
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)
Forward rotation
start (ST1)
ON
OFF
ON
OFF
3ms or less
Home position address
Parameter No. 42
5ms or more
Limiting
torque (TLC)
ON
OFF
Torque limit value
Stopper
Parameter No. 28
Parameter No. 45
Parameter No. 28
Stopper time
Parameter No. 44
Movement complete (PED)
ON
OFF
ON
OFF
Automatic/manual
selection
(MD0)
Parameter No.41
Acceleration time constant
Home position return
speed Parameter No.9
Servo motor speed
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).