Mitsubishi Electric MR-J4-_GF Instruction Manual page 69

6. SERVO MOTOR DRIVING
(2) CiA 402-type Homing method
(a) Home position return type in CiA 402 type
The following shows the CiA 402-type home position return.
1) Method 3 and 4: Homing on positive home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.
Index Pulse
Home Switch
2) Method 5 and 6: Homing on negative home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position. Method 5 and 6 are the same as
Method 3 and 4 except that the starting direction is forward in Method 3 and 4, and reverse in
Method 5 and 6.
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