Mitsubishi Electric MELSERVO-J4 Instruction Manual page 82

General-purpose/multi-network interface ac servo/servo amplifier
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5. CiA 402 DRIVE PROFILE
(g) Method -8 and -40 (dog cradle type home position return)
The following figure shows the operation of Homing method -8. The operation direction of Homing
method -40 is opposite to that of Homing method -8.
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
Note.
The software limit cannot be used with these functions.
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
When a home position return is started from the proximity dog
Proximity dog
Home position return
position data
Forward
rotation
0 r/min
Reverse
rotation
Home position
shift distance
When the movement is returned at the stroke end
Deceleration time constant
Creep speed
Proximity dog
Proximity dog
Home position return start position
Home position
return direction
Home position return
start position
5 - 47
Home position
shift distance
Home position
Home position return
position data
Home position
return position data
Stroke limit
(Note)

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