Mitsubishi Electric MR-J4-_GF Instruction Manual page 84

6. SERVO MOTOR DRIVING
(b) Method -2 and -34 (Count type home position return)
The following figure shows the operation of Homing method -2. The operation direction of Homing
method -34 is opposite to that of Homing method -2.
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
Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,
[AL. 90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return
speed to the creep speed.
Servo motor speed
After retracting to before proximity dog,
the home position return starts from here.
When a home position return is started from the proximity dog
POINT
For the count type home position return, after the front end of the proximity dog
is detected, the position is shifted by the distance set in the travel distance after
proximity dog. Then, the first Z-phase is set as the home position. Therefore,
when the on-time of the proximity dog is 10 ms or more, the length of the
proximity dog has no restrictions. Use this home position return type when the
dog type home position return cannot be used because the length of the
proximity dog cannot be reserved or other cases.
Acceleration time
constant
Home position return speed
10 ms or shorter
Travel distance after
proximity dog
Home position
return direction
0 r/min
Reverse
rotation
Deceleration time
constant
Creep speed
(Note) Proximity dog
Proximity dog
Home position return start position
6 - 25
Home position
shift distance
Home position return
position data