Mitsubishi Electric MELSERVO-JE Instruction Manual page 92

6. SERVO MOTOR DRIVING
(f) Method -7 and -39 (count type front end reference home position return)
The following figure shows the operation of Homing method -7. The operation direction of Homing
method -39 is opposite to that of Homing method -7.
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
DOG (Proximity dog)
OFF
ON
Controlword bit 4
Homing operation start
OFF
Servo motor speed
After retracting to before proximity dog,
the home position return starts from here.
Servo motor speed
The home position return starts from here.
Note. This is not available with the software limit.
POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the front end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
faster home position return speed sets a larger error in the home position.
Acceleration time
constant
Home position return speed
10 ms or shorter
Home position
return direction
0 r/min
Reverse
rotation
When a home position return is started from the proximity dog
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
Travel distance after proximity dog
Deceleration time
constant
Proximity dog
Home position return start position
Proximity dog
6 - 27
+
Home position shift distance
Creep speed
Home position return
position data
Proximity dog
Stroke end (Note)