Mitsubishi Electric MR-J4-_GF Instruction Manual page 66

6. SERVO MOTOR DRIVING
(3) Homing speed (6099h)
Sub
Index Access
Index
0
6099h 1
2
The current home position return speed can be read. At this time, "02h" is returned to Number of entries.
The current home position return speed is returned to Speed during search for switch in a unit of r/min or
mm/s.
The current creep speed is returned to Speed during search for zero in a unit of r/min or mm/s.
Set a home position return speed. At this time, write "02h" in Number of entries.
Set a home position return speed in Speed during search for switch in a unit of r/min or mm/s.
Set a creep speed in Speed during search for zero in a unit of r/min or mm/s.
(4) Statusword (6041h)
Sub
Index Access
Index
6041h 0
rw Homing speed
POINT
When the mode is switched to the hm mode after home position return
completion, Statusword (6041h) is "Homing procedure is completed
successfully" unless "0" is set in Bit 12. The following shows the conditions when
"0" is set in Bit 12.
For incremental system
At power-on
At communication shut-off by master station (controller) reset
At home position return start
At home position erasure
For absolute position detection system
At home position return start
At home position erasure
To check the home position return status with Statusword (6041h), note the
following.
When the mode is switched to the hm mode, Modes of operation display
(6061h) is changed to 6 (hm) and Statusword (6041h) changes at the same
time.
The transition of Statusword (6041h) may take 50 ms at a maximum after Bit 4
(Homing operation start) of Controlword (6040h) is set. To obtain the status of
Statusword without any fault, wait 50 ms or more before obtaining Statusword
(6041h).
Before updating the position after a home position return completion, check that
both Bit 12 and Bit 10 of Statusword (6041h) are changed to "1" and then wait 8
ms. It may take approximately 8 ms for the position information to be correctly
updated.
ro Statusword
Name
Number of entries
Speed during search for switch
Speed during search for zero
Name
6 - 7
Data
Default
Type
U8 2
U32 10000
U32 1000
Data
Default
Type
U16