Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 74

5. CiA 402 DRIVE PROFILE
5) Method 33 and 34: Homing on index pulse
These home position return types set the Z-phase detected first as a home position. The
operation is the same as that of the dogless Z-phase reference home position return except that
the creep speed is applied at the start.
Index Pulse
6) Method 35 and 37: Homing on current position
These home position return types set the current position as a home position. The operation is
the same as that of the data set type home position return; however, these types can be
executed even during servo-off.
ON
Statusword bit 12
Homing attained
OFF
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
ON
Controlword bit 4
Homing operation start
OFF
33
34
5 - 37
Home position return position data