Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 74

6. CONTROL MODE
9) Method 33 and Method 34 (Homing on index pulse)
The following figure shows the operation of Homing method 34. The operation direction of
Homing method 33 is opposite to that of Homing method 34.
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
Controlword bit 4
Homing operation start
OFF
10) Method 35 and Method 37 (Homing on current position)
The following figure shows the operation of Homing method 35 and Homing method 37. These
methods can be performed in the servo-off status.
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
Forward
rotation
Servo motor speed
Reverse
rotation
Controlword bit 4
Homing operation start
Acceleration time
constant
Creep speed
3 ms or shorter
Home position return
position data
Home position shift distance
Servo motor speed
ON
OFF
ON
OFF
0 r/min
ON
OFF
Deceleration time constant
Creep speed
Home position
return direction
Forward
rotation
0 r/min
Home position return start position
When the stroke end is detected
6 - 31
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
Home position
return position data