Mitsubishi Electric MELSERVO-J4 Instruction Manual page 85

5. CiA 402 DRIVE PROFILE
(j) Method -11 and -43 (dogless Z-phase reference home position return)
The following figure shows the operation of Homing method -11. The operation direction of Homing
method -43 is opposite to that of Homing method -11.
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
Controlword bit 4 ON
Homing operation start
OFF
Servo motor speed
Home position return speed
Acceleration time
constant
Home position return position data
3 ms or shorter
Home position shift distance
Home position
return direction
Forward
rotation
0 r/min
Home position return start position
When the stroke end is detected
Deceleration time constant
Creep speed
Stroke limit
The servo motor stops due to
the occurrence of [AL. 90].
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