Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 68

5. CiA 402 DRIVE PROFILE
(2) Details on the OMS bit of Controlword (hm mode)
Bit Symbol
4
5 (reserved)
6 (reserved)
8 HALT
9 (reserved)
(3) Details on the OMS bit of Statusword (hm mode)
Bit Symbol
10 Target reached
12 Homing attained
13 Homing error
Homing operation start
HOS 0: Do not start homing procedure
1: Start or continue homing procedure
The value at reading is undefined. Set "0" at writing.
Halt
0: Bit 4 enable
1: Stop axis according to halt option code (605Dh)
In the indexer method, this bit is disabled.
The value at reading is undefined. Set "0" at writing.
POINT
When the mode is switched to the hm mode after home position return
completion, Statusword is "Homing procedure is completed successfully" unless
"0" is set in Bit 12. The following shows the conditions when "0" is set in Bit 12.
For incremental system
At power-on
At communication shut-off by controller reset
At home position return start
At home position erasure
For absolute position detection system
At home position return start
At home position erasure
To check the home position return status with Statusword, note the following.
(when the communication cycle of 4 ms or less is set)
When the mode is switched to the hm mode, Modes of operation display is
changed to 6 (hm) and Statusword changes at the same time.
The status change of Statusword may take 50 ms at a maximum after Bit 4 of
Controlword (Homing operation start) is set. To obtain the status of
Statusword without any fault, wait 50 ms or more.
Before updating the position after a home position return completion, check that
both Bit 12 and Bit 10 of Statusword are changed to "1" and then wait 8 ms.
If 8 ms has not elapsed, the position information may not be updated correctly
depending on the communication cycle setting.
Refer to the following table for the definition.
Description
Description
5 - 31