Mitsubishi Electric MR-J4-_GF Instruction Manual page 91

6. SERVO MOTOR DRIVING
(h) Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing
method -41 is opposite to that of Homing method -9.
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 rear end of the proximity dog is detected without stop, [AL. 90] occurs.
Revise the length of the proximity dog or revise both the home position return speed and 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
Servo motor speed
The home position return starts from here.
Note. This is not available with the software limit.
Home position return speed
Acceleration time
constant
10 ms or shorter
Home position shift distance
Home position
return direction
0 r/min
Reverse
rotation
Home position
return direction
Forward
Home position return start position
rotation
0 r/min
Reverse
rotation
When the servo motor returns at the stroke end
Deceleration time constant
Creep speed
(Note)
Proximity dog
Home position return start position
Proximity dog
6 - 32
Home position return position data
Proximity dog
Stroke end (Note)