Mitsubishi Electric MELSERVO-J4 Instruction Manual page 80

5. CiA 402 DRIVE PROFILE
(e) Method -6 and -38 (dog type rear end reference home position return)
The following figure shows the operation of Homing method -6. The operation direction of Homing
method -38 is opposite to that of Homing method -6.
Statusword bit 10 ON
Target reached
OFF
ON
Statusword bit 12
Homing attained OFF
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
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 rear end of the proximity dog is detected without reaching the creep
speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
Servo motor speed
Servo motor speed
Note. The software limit cannot be used with these functions.
POINT
This home position return type depends on the timing of reading DOG
(Proximity dog) that has detected the rear end of the proximity dog. Therefore,
when a home position return is performed at a creep speed of 100 r/min, the
home position has an error of ±(Encoder resolution) × 100/65536 [pulse]. The
higher the creep speed, the greater the error of the home position.
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
Proximity dog
Proximity dog
Home position return start position
Proximity dog
5 - 45
Travel distance
after proximity dog
+
Home position
shift distance
Home position return
position data
Stroke limit (Note)