Mitsubishi Electric MR-JE-*C Instruction Manual page 128

6. HOMING MODE
(10) 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.
ON
Statusword bit 10
Target reached
OFF
ON
Statusword bit 12
Homing attained
OFF
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
ON
Z-phase
OFF
ON
Controlword bit 4
Homing operation start
OFF
Forward
rotation
Servo motor speed
Acceleration time
Home position return speed
constant
Home position return
position data
10 ms or shorter
Home position shift distance
Home position
return direction
0 r/min
Home position return start position
When the stroke end is detected
Deceleration time
constant
Creep speed
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
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