Homing Mode (Hm) - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.9 Homing mode (hm)

The following shows the function and related objects of the homing mode (hm).
Controlword (6040h)
Homing method (6098h)
Homing speeds (6099h)
Homing acceleration (609Ah)
Home offset (607Ch)
(1) Related object
Index Sub Object
607Ch 0 VAR
6098h 0 VAR
0
1
6099h ARRAY
2
609Ah 0 VAR
0
1
60E3h ARRAY
to
39
Note. In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the
stroke end is detected. Set the home position return speed carefully.
Data
Name
Type
Home offset I32
Homing Method I8
Homing Speeds U8
Speed during search
U32
for switch
Speed during search
U32
for zero
Homing acceleration U32
Supported Homing
U8
Method
1 supported homing
st
I8
method
39 supported
th
I8
homing method
5 - 30
Statusword (6041h)
Homing
method
Access Default
The home position saved in EEP-
ROM is stored at power-on.
If a home position return is executed
in the homing mode (hm), the home
ro
position will be updated.
If [Pr. PA03 Absolute position
detection system] is disabled, 0 is
always stored.
Specify a home position return type.
Refer to (4) in this section for
rw -1
supported home position return
types.
Number of entries of the home
rw 2
position return speed
Specify the travel speed until dog
detection.
Unit: Vel unit (0.01 r/min or 0.01
rw 10000
Range: 0 to servo motor maximum
Specify the travel speed up to the
home position after dog detection.
(Note)
rw 1000 Unit: Vel unit (0.01 r/min or 0.01
Range: 0 to servo motor maximum
Acceleration/deceleration time
constant at home position return
rw 0
Unit: ms
Number of entries of the supported
ro 39
home position return type
Refer to The supported home position return
ro section 7.3.13 type is returned.
(5).
Refer to The supported home position return
ro section 7.3.13 type is returned.
(5).
Description
mm/s)
speed
mm/s)
speed