Mitsubishi Electric MELSERVO-J4 Instruction Manual page 87

5. CiA 402 DRIVE PROFILE
(l) Method 33 and Method 34 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 34. The operation direction of Homing
method 33 is opposite to that of Homing method 34.
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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