Mitsubishi Electric MR-JE-*C Instruction Manual page 124

6. HOMING MODE
(6) 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
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
When a home position return is started from the proximity dog
Forward
rotation
Servo motor speed
Reverse
rotation
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
Home position
return direction
Home position return start position
0 r/min
When the servo motor returns at the stroke end
Deceleration time
constant
Proximity dog
Home position return start position
Proximity dog
6 - 31
Travel distance after proximity dog
+
Home position shift distance
Creep speed
Home position return
position data
Proximity dog
Stroke end (Note)