Mitsubishi Electric MELSERVO-J4 Instruction Manual page 73

5. CiA 402 DRIVE PROFILE
5) Method 19 and Method 21 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 19. The operation direction of
Homing method 21 is opposite to that of Homing method 19.
Statusword bit 10 ON
Target reached
OFF
Statusword bit 12 ON
Homing attained
OFF
Forward
rotation
Servo motor speed
0 r/min
Reverse
rotation
ON
DOG (Proximity dog)
OFF
Controlword bit 4 ON
Homing operation start
OFF
Servo motor speed
Servo motor speed
Home position
Acceleration time return speed
constant
Home position return position data
3 ms or shorter
Home position
return direction
0 r/min
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
Home position
return direction
Forward
rotation
0 r/min
Home position return start position
When the stroke end is detected
Deceleration time constant
Creep speed
Proximity dog
Home position return start position
Stroke limit
The servo motor stops due to
the occurrence of [AL. 90].
5 - 38
Travel distance after proximity dog
+
Home position shift distance
Proximity dog