Mitsubishi Electric MELSERVO-J4 Instruction Manual page 77

5. CiA 402 DRIVE PROFILE
(b) Method -2 and -34 (Count type home position return)
The following figure shows the operation of Homing method -2. The operation direction of Homing
method -34 is opposite to that of Homing method -2. After the front end of the proximity dog is
detected, if the distance after proximity dog is traveled without reaching the creep speed, [AL. 90]
occurs. Set the travel distance after proximity dog enough for deceleration from the home position
return speed to the creep speed.
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
POINT
For the count type home position return, after the front end of the proximity dog
is detected, the position is shifted by the distance set in the travel distance
after proximity dog. Then, the first Z-phase is set as the home position.
Therefore, when the on-time of the proximity dog is 10 ms or more, the length
of the proximity dog has no restrictions. Use this home position return type
when the dog type home position return cannot be used because the length of
the proximity dog cannot be reserved or other cases.
Acceleration time constant
Home position return speed
3 ms or shorter
Travel distance after
proximity dog
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
Deceleration time constant
Creep speed
Proximity dog
Proximity dog
Home position return start position
5 - 42
Home position
shift distance
Home position
Home position return position data