Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 165

Method -7 and -39 (count type front end reference home position return)
This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the
front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return
is performed, the home position has an error calculated by the following expression.
 (Encoder resolution)  100/65536 [pulse]
The faster home position return speed sets a larger error in the home position.
The following figure shows the operation of Homing method -7. The operation direction of Homing method -39 is opposite to
that of Homing method -7.
ON
Statusword bit 10
Target reached
OFF
ON
Statusword bit 12
Homing attained
OFF
Acceleration time
constant
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
ON
DOG (Proximity dog)
OFF
ON
Controlword bit 4
Homing operation start
OFF
• When a home position return is started from the proximity dog
Home position
return direction
Servo motor speed 0 r/min
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
• When the movement is returned at the stroke end
Home position
return direction
Forward
rotation
Servo motor speed
0 r/min
Reverse
rotation
The home position return starts from here.
*1 This is not available with the software limit.
Home position return speed
3 ms or shorter
Proximity dog
Home position return start position
Proximity dog
Home position return start position
Travel distance after proximity dog
Deceleration time
constant
Home position shift distance
Creep speed
Proximity dog
Stroke end
4.6 Home position return mode
+
Home position return
position data
*1
4 STARTUP
163
4