Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 167

Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to
that of Homing method -9.
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
*1 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs. Check
the length of the proximity dog or check the home position return speed and creep speed.
• When a home position return is started from the proximity dog
Home position
return direction
Servo motor speed 0 r/min
Reverse
rotation
After retracting to before proximity dog,
the home position return starts from here.
• When the movement is returned at the stroke end
Home position
return direction
Forward
rotation
Servo motor speed
0 r/min
Reverse
rotation
The home position return starts from here.
*1 This is not available with the software limit.
Home position return speed
3 ms or shorter
Home position shift distance
Proximity dog
Home position return start position
Proximity dog
Home position return start position
Deceleration time constant
Home position return position data
Creep speed
Proximity dog
*1
Stroke end
4.6 Home position return mode
*1
4 STARTUP
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