Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 152

Operation example of the CiA 402-type Homing method
The following shows an operation example of the home position return in the CiA 402-type Homing method.
■Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on
negative home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing method 5 is opposite to that
of Homing method 3.
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
Forward
rotation
Servo motor speed
Reverse
rotation
Z-phase
DOG (Proximity dog)
Controlword bit 4
Homing operation start
• When a home position return is started from the proximity dog
Servo motor speed
0 r/min
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
• When the stroke end is detected
Forward
rotation
Servo motor speed
0 r/min
Home position return start position
4 STARTUP
150
4.6 Home position return mode
ON
OFF
ON
OFF
Home position return speed
Acceleration time
constant
0 r/min
3 ms or shorter
Home position shift distance
ON
OFF
ON
OFF
ON
OFF
Home position
return direction
Proximity dog
Home position
return direction
Deceleration time constant
Creep speed
Home position return start position
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
Home position return position data
Proximity dog