Mitsubishi Electric MR-J3-B-RJ006 Instruction Manual page 107

4. OPERATION AND FUNCTIONS
(3) About dog type home position return when using the ABZ-phase pulse train specification rotary encoder
The home position using a ABZ-phase pulse train specification rotary encoder as a load side encoder is as
described below. It is the position per servo motor revolution, starting at the position where the Z-phase of
the load side encoder is passed through first after power-on of the servo amplifier.
Load side encoder
Z-phase signal
Home position
reference position
Machine position
The home position reference position is set relative to the Z-phase position of the load side encoder that is
passed through first after power-on of the servo amplifier.
In Case A and Case B where the power-on position differs as shown below, the power-on position must be
noted since the axis cannot stop at the same home position return position.
Proximity dog
signal
Load side encoder
Z-phase signal
Case A
Home position
reference position
Home position
return operation
Case B
Home position
reference position
Home position
return operation
ON
OFF
Equivalent to one servo motor revolution
Servo amplifier
power-on position
ON
OFF
ON
OFF
Equivalent to one servo motor revolution
Home position return speed
Servo amplifier
power-on position
Equivalent to one servo motor revolution
Servo amplifier
power-on position
Home position reference is a position per servo motor
revolution relative to the Z-phase signal of the load side
encoder that was passed through right after the power-
on of servo amplifier.
Home position
return speed
4 - 10
Home position
Home position
Creep speed
Home position