Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 153

■Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on
negative home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that
of Homing method 4.
ON
Statusword bit 10
Target reached
OFF
ON
Statusword bit 12
Homing attained
OFF
Acceleration time
constant
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
• When a home position return is started from the proximity dog
Home position
return direction
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance
• When the stroke end is detected
Home position
return direction
Forward
rotation
Servo motor speed
0 r/min
Home position return start position
Home position return speed
3 ms or shorter
Proximity dog
Home position return start position
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
Deceleration time constant
Creep speed
Proximity dog
Home position
return position data
4.6 Home position return mode
Home position
shift distance
Home position return
position data
4 STARTUP
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