Quick start manual

4.3 Home Position Return
At the fac tory the MR-J3-T servo ampli fi ers are con fig ured with the incre men tal sys tem acti -
vated by default (i.e. the abso lute posi tion detec tion sys tem is switched off). This means that the
cur rent posi tion is not stored when the ampli fier's power sup ply is switched off, mak ing it nec es -
sary to per form a return to home posi tion every time the unit is pow ered up. You can con fig ure
the home posi tion return mode with Param e ter PC02:
Para me ter PC02
The most com monly used modes are:
1. Dogless Z-phase ref er ence mode (A)
2. Prox im ity dog mode (0)
These two modes are described in detail below. Dogless Z-phase ref er ence mode is suit able for
sim ple appli ca tions. Dog mode is fre quently used for stan dard appli ca tions.
4.3.1 Dogless Z-phase ref er ence mode
In this mode the Z-phase of the rotary encoder (zero posi tion of the encoder) is used as the
machine's phys i cal home posi tion. How ever, it is quite rare to be able to con fig ure a machine so
that its phys i cal home posi tion exactly matches the Z-phase of the encoder. It is thus almost
always nec es sary to enter an off set (shift) with param e ter PC06.
After acti va tion of the for ward start com mand ST1 (or reverse ST2) the home posi tion return is
ini ti ated by param e ter PC04 (“home posi tion return speed”). When the Z-phase sig nal from the
encoder is reg is tered the servo motor brakes to a halt. After this a pre cise return to home is per -
formed at creep speed with param e ter PC05.
The phys i cal home posi tion can be shifted in rela tion to the zero posi tion of the encoder
(Z-phase) with the home posi tion off set (shift) defined with param e ter PC06. Param e ter PC07
can be used to define a home posi tion value other than zero.
When the home posi tion return has been com pleted suc cess fully the servo ampli fier acti vates
the ZP sig nal.
Positioning with Digital Inputs Home Position Return
MR-J3-T 4 - 15
Home po si ti on re turn modes
0: Prox im ity dog mode
1: Count mode
2: Data set ting mode
3: Stop per mode
4: Ig nore home position
5: Dog mode, rear end re fer en ce
6: Count mode, front end re fer en ce
7: Dog cra dle mode
8: Dog mode, last Z-phase re fer en ce
9: Dog mode, front end re fer en ce
A: Dogless Z-pha se re fer en ce