Mitsubishi Electric MELSERVO-J4 Instruction Manual page 84

5. CiA 402 DRIVE PROFILE
(i) Method -10 and -42 (dog type front end reference home position return)
The following figure shows the operation of Homing method -10. The operation direction of Homing
method -42 is opposite to that of Homing method -10.
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
Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
Servo motor speed
Servo motor speed
Note. The software limit cannot be used with these functions.
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
Home position return start position
rotation
0 r/min
Reverse
rotation
The home position return starts from here.
When the movement is returned at the stroke end
Deceleration time constant
Creep speed
Proximity dog
Home position return start position
Proximity dog
5 - 49
Travel distance after proximity dog
+
Home position shift distance
Proximity dog
Stroke limit (Note)