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

5. CiA 402 DRIVE PROFILE

5.4.9 Homing mode (hm)

The following shows the function and related objects of the homing mode (hm).
Controlword (6040h)
Homing method (6098h)
Homing speeds (6099h)
Homing acceleration (609Ah)
Home offset (607Ch)
(1) Related object
Index Sub Object
607Ch 0 VAR
6098h 0 VAR
0
1
6099h ARRAY
2
609Ah 0 VAR
0
1
60E3h ARRAY
to
39
Note. In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the
stroke end is detected. Set the home position return speed carefully.
Homing
Name Data Type
Home offset
Homing Method
Homing Speeds
Speed during search for
switch
Speed during search for
zero
Homing acceleration
Supported Homing
Method
st
1 supported homing
method
th
39 supported homing
method
Statusword (6041h)
Position demand internal value (60FCh)
method
or Position demand value (6062h)
Access Default
I32 ro
I8 rw -1
U8 rw 2
U32 rw 10000
U32 rw 1000
U32 rw 0
U8 ro 39
I8 ro 37
I8 ro -43
5 - 27
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 (3) in this section for supported home
position return types.
Number of entries of the home position return
speed
Specify the travel speed until dog detection.
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Range: 0 to servo motor maximum speed
Specify the travel speed up to the home
position after dog detection. (Note)
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Range: 0 to servo motor maximum speed
Acceleration/deceleration time constant at
home position return
Unit: ms
Number of entries of the supported home
position return type
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.