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7. POSITIONING CONTROL
(1) Setting the travel value after proximity dog
(a) This parameter sets the travel value after the proximity dog turns ON for ze-
roing using the count method.
(b) After the proximity dog turns ON, the home position is the first zero-point
after travel by the set travel value is complete.
(c) Set the travel value after the proximity dog turns ON more than the decel-
eration distance at the zeroing speed.
Example
The deceleration distance is calculated as shown below from the speed limit
value, zeroing speed, creep speed, and deceleration time.
[Zeroing operation]
Speed limit value V
Zeroing speed:
V
= 10 kpps
Z
Actual deceleration time:
V
Z
×
t = T
B
V
P
[Deceleration distance (shaded area under graph)]
1
×
=
2
1000
V
Z
=
2000
10×10
=
2000
= 75 ⋅⋅⋅⋅⋅⋅⋅⋅ Set greater than 75.
POINT
A zeroing must be made after the servo motor has been rotated more than
one revolution to pass the axis through the Z-phase (motor reference posi-
tion signal).
For a proximity dog type or count type zeroing, the distance between the
point where the zeroing program is started and the deceleration stop point
before second travel must be such that the servo motor is rotated more than
one revolution to pass the axis through the Z-phase.
When a data setting type zeroing is made in an ABS (absolute position)
system, the motor must also have been rotated more than one revolution by
JOG operation or the like to pass the axis through the Z-phase.
= 200 kpps
P
t
TB
V
Z
× t
Change in speed per millisecond
× V
T
B
Z
×
V
P
3
3
300×10×10
×
200 × 10
7 − 142
Creep speed: V
= 1 kpps
C
Deceleration time: T
= 300 ms
B
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