Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 79

■Method 7 and Method 11 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to
that of Homing method 7.
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
DOG (Proximity dog)
OFF
ON
Controlword bit 4
Homing operation start
OFF
*1 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs. Revise
the length of the proximity dog or revise both the home position return speed and creep speed.
*2 The home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
• When a home position return is started from the proximity dog
Home position return direction
Servo motor speed 0 r/min
Reverse
rotation
Moves back automatically before the proximity dog,
then performs home position return from this position.
• When the movement is returned at the stroke end
Home position return direction
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Performs home position return from this position.
*1 This is not available with the software limit.
Acceleration time
Home position return speed
constant
10 ms or shorter
Home position shift distance
Proximity dog
Proximity dog
Home position return start position
Deceleration time
constant
Creep speed
*2
*1
Home position return start position
Home position return position data
Proximity dog
*1
Stroke end
6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
6
77