Homing Mode (Hm) - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

6. CONTROL MODE

6.6 Homing mode (hm)

The following shows the functions and related PROFIdrive parameters of the homing mode (hm).
Controlword (P24640)
Homing method (P24728)
Homing speeds (P24729)
Homing acceleration (P24730)
Home offset (P24700)
(1) Related object
In the homing mode (hm), the servo motor is not brought to a slow stop according to the deceleration
time constant when the stroke end is detected. The motor is brought to a quick stop. Set the home
position return speed carefully.
PNU Sub Access
24700 0 R Home offset
24728 0 R/W Homing Method
24729 0 R/W Speed during search for
switch
1 R/W Speed during search for
zero
24730 0 R/W Homing acceleration
24803 0 R 1
method
to
38 R 39
method
Name
st
supported homing
th
supported homing
Statusword (P24641)
Homing
method
Default
Type
value
Integer32
Integer8 -1
Array [2] 10000
Unsigned32
1000
Unsigned32 0
Array [39] 37
Integer8
-43
6 - 16
Description
The home position saved in EEP-ROM is
stored at power-on.
If a home position return is executed in the
homing mode (hm), the home position will be
updated.
If [Pr. PA03 Absolute position detection
system] is disabled, 0 is always stored.
Specify a home position return type.
Refer to (4) in this section for supported home
position return types.
Specify the travel speed until dog detection.
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
Range: 0 to servo motor maximum speed
Specify the travel speed up to the home
position after dog detection.
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
Range: 0 to servo motor maximum speed
Acceleration/deceleration time constant at
home position return
Unit: ms
The home position return type that uses the
current position as a home position is
supported.
The dogless Z-phase reference home position
return type (reverse rotation) is supported.