Homing Mode Objects - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

7. OBJECT DICTIONARY
(10) Motion profile type (6086h)
Index Sub
6086h 0
Index Sub Default
6086h 0
Set the acceleration/deceleration pattern in the profile position mode (pp). The description is as follows.
For this object, "-1" is always returned. Values other than "-1" cannot be set.

7.3.13 Homing Mode Objects

(1) Home offset (607Ch)
Index Sub
607Ch 0
Index Sub Default
607Ch 0
The home position is returned. No value can be written because Home offset (607Ch) is set
automatically. Writing any value causes SDO Abort Code (0609 0030h Value range of parameter
exceeded).
(2) Homing method (6098h)
Index Sub
6098h 0
Index Sub Default
6098h 0 37
Set a home position return type. Refer to section 5.4.9 (4) for the settable values.
Name
Motion profile type
Range
-1 FFFFh to FFFFh (-1)
Setting
value
-1 S-pattern
0 Linear ramp (Not supported) (Note)
1 sin ramp (Not supported) (Note)
2
2 Jerk-free ramp (Not supported) (Note)
3 Jerk-limited ramp (Not supported) (Note)
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
Name
Home offset
Range
0 80000000h to 7FFFFFFFh
Name
Homing method
Range
D5h (-43) to 25h (37)
Data Type
INTEGER16
Units
Description
Data Type
INTEGER32
Units
pos units
Data Type
INTEGER8
Units
7 - 66
Access PDO Mapping
rw Possible
EEP-ROM Parameter
Impossible
Access PDO Mapping
rw Possible
EEP-ROM Parameter
Possible
Access PDO Mapping
rw Possible
EEP-ROM Parameter
Possible PT45