Mitsubishi Electric MR-JE-*C Instruction Manual page 127

6. HOMING MODE
(9) Method -10 and -42 (dog type front end reference home position return)
The following figure shows the operation of Homing method -10. The operation direction of Homing
method -42 is opposite to that of Homing method -10.
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
Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
speed, [AL. 90] occurs. Revise the length of the proximity dog or revise both the home position return speed and creep speed.
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.
Home position
Acceleration time
return speed
constant
Home position return position data
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
Creep speed
(Note)
Proximity dog
Home position return start position
Proximity dog
6 - 34
Travel distance after proximity dog
+
Home position shift distance
Proximity dog
Stroke end (Note)