Mitsubishi Electric MELSERVO-J4 Instruction Manual page 76

5. CiA 402 DRIVE PROFILE
(6) Operation example of Manufacturer-specific Homing method
The following shows an operation example of the Manufacturer-specific home return.
(a) Method -1 and -33 (Dog type home position return)
The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.
Statusword bit 10 ON
Target reached
OFF
Statusword bit 12 ON
Homing attained
OFF
Forward
rotation
Servo motor speed
0 r/min
Reverse
rotation
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlword bit 4 ON
Homing operation start
OFF
Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return speed
to the creep speed.
Servo motor speed
Servo motor speed
Note. The software limit cannot be used with these functions.
Acceleration time
constant
Home position return speed
3 ms or shorter
Home position
return direction
0 r/min
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
When a home position return is started from the proximity dog
Home position
return direction
Forward
Home position return start position
rotation
0 r/min
Reverse
rotation
The home position return starts from here.
When the movement is returned at the stroke end
Deceleration time constant
Creep speed
td
Proximity dog
Proximity dog
Home position return start position
Proximity dog
5 - 41
Home position shift distance
Home position
Home position return
position data
Stroke limit (Note)