Mitsubishi Electric MR-J4-_GF Instruction Manual page 72

6. SERVO MOTOR DRIVING
(b) Operation example of the CiA 402-type Homing method
The following shows an operation example of the home position return in the CiA 402-type Homing
method.
1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
ON
Statusword bit 10
Target reached
OFF
ON
Statusword bit 12
Homing attained
OFF
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
ON
Controlword bit 4
Homing operation start
OFF
Servo motor speed
When a home position return is started from the proximity dog
Servo motor speed
Home position return speed
Acceleration time
constant
10 ms or shorter
Home position shift distance
Home position
return direction
0 r/min
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
Home position
return direction
Forward
rotation
0 r/min
Home position return start position
When the stroke end is detected
Deceleration time constant
Creep speed
Proximity dog
Home position return start position
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
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Home position return position data
Proximity dog