Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 163

Method -4 and -36 (stopper type home position return)
Since the workpiece collides with the mechanical stopper, the home position return speed must be low
enough.
The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to
that of Homing method -4.
ON
Statusword bit 10
OFF
Target reached
ON
Statusword bit 12
OFF
Homing attained
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlword bit 4 ON
Homing operation start
OFF
ON
TLC (Limiting torque)
OFF
Torque limit value
*1 When Method -4 is set, the torque limit value (Positive torque limit value) is applied. When Method -36 is set, the torque limit value
(Negative torque limit value) is applied.
*2 If the torque limit value is reached, TLC remains on after the home position return is completed.
• When the stroke end is detected
Home position
return direction
Forward
rotation
Servo motor speed
0 r/min
Home position return start position
Acceleration time
Home position return speed
constant
3 ms or shorter
5 ms or longer
Torque limit value *1
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
Stopper
Stopper time [Pr. PT10]
[Pr. PT11]
Home position return
position data
*2
Torque limit value *1
4 STARTUP
4.6 Home position return mode
4
161