Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 66

6. CONTROL MODE
(b) Operation example of the CiA 402-type Homing method
The following shows an operation example of the home position return in the CiA 402-type Homing
method.
1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
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
Acceleration time
Home position return speed
constant
3 ms or shorter
Home position shift distance
Servo motor speed
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
When a home position return is started from the proximity dog
Servo motor speed
Deceleration time constant
Creep speed
Home position
return direction
0 r/min
Home position
return direction
Forward
rotation
0 r/min
Home position return start position
When the stroke end is detected
6 - 23
Home position return position data
Proximity dog
Proximity dog
Home position return start position
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].