Mitsubishi Electric MELSERVO-J4 Instruction Manual page 74

5. CiA 402 DRIVE PROFILE
6) Method 20 and Method 22 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 20. The operation direction of
Homing method 22 is opposite to that of Homing method 20.
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
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlword bit 4 ON
Homing operation start
OFF
Servo motor speed
Servo motor speed
Acceleration time
constant
Home position return speed
3 ms or shorter
Home position
return direction
Forward
rotation
0 r/min
Reverse
rotation
Home position shift distance
+
Travel distance after proximity dog
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
Proximity dog
Home position return start position
Stroke limit
The servo motor stops due to
the occurrence of [AL. 90].
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Home position shift distance
+
Travel distance after proximity dog
Home position
Home position return
position data
Home position
return position data