Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 61

6. CONTROL MODE
(4) List of Homing method
To specify the home position return type in the homing mode (hm), use Homing Method (P24728). The
MR-J4-_TM_ servo amplifier supports Homing method in the following table.
Method No. Home position return type
-1 Dog type
(Rear end detection, Z-
-33 phase reference)
Data set type home
-3
position return
Stopper type
-4
(Stopper position
-36
reference)
-2 Count type
(Front end detection, Z-
-34 phase reference)
-6 Dog type
(Rear end detection, rear
-38 end reference)
-7 Count type
(Front end detection, front
-39 end reference)
-8
Dog cradle type
-40
-9
Dog type last Z-phase
reference
-41
-10
Dog type front end
reference
-42
-11
Dogless Z-phase
reference
-43
POINT
In the following cases, make sure that the Z-phase has been passed through
once before the home position return.
When using an incremental linear encoder in the linear servo motor control
mode
When using an incremental external encoder in the fully closed loop control
mode
For the use in the DD motor control mode
Z-phase unpassed will trigger [AL. 90.5 Z-phase unpassed].
To execute a home position return securely, start a home position return after
moving the servo motor to the opposite stroke end with csv or pv from the
controller and others. Whether the servo motor has reached the stroke end can
be checked with Digital inputs (P24829).
When changing the mode after the home position return completion, set 0 to the
Target position (P24698) and change the control mode.
Rotation direction
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Deceleration starts at the front end of the proximity dog. After the
rear end is passed, the position specified by the first Z-phase signal,
or the position of the first Z-phase signal shifted by the specified
home position shift distance is used as the home position.
The current position is set as the home position.
A workpiece is pressed against a mechanical stopper, and the
position where it is stopped is set as the home position.
At the front end of the proximity dog, deceleration starts. After the
front end is passed, the position specified by the first Z-phase signal
after the set distance or the position of the Z-phase signal shifted by
the set home position shift distance is set as a home position.
Deceleration starts from the front end of the proximity dog. After the
rear end is passed, the position is shifted by the travel distance after
proximity dog and the home position shift distance. The position
after the shifts is set as the home position.
Deceleration starts from the front end of the proximity dog. The
position is shifted by the travel distance after proximity dog and the
home position shift distance. The position after the shifts is set as
the home position.
A position, which is specified by the first Z-phase signal after the
front end of the proximity dog is detected, is set as the home
position.
After the front end of the proximity dog is detected, the position is
shifted away from the proximity dog in the reverse direction. Then,
the position specified by the first Z-phase signal or the position of
the first Z-phase signal shifted by the home position shift distance is
used as the home position.
Starting from the front end of the proximity dog, the position is
shifted by the travel distance after proximity dog and the home
position shift distance. The position after the shifts is set as the
home position.
The position specified by the first Z-phase signal, or the position of
the first Z-phase signal shifted by the home position shift distance is
used as the home position.
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Description