Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 76

5. CiA 402 DRIVE PROFILE
2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing
method 6 is opposite to that of Homing method 4.
ON
Statusword bit 10
Target reached
OFF
ON
Statusword bit 12
Homing attained
OFF
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
Acceleration time
constant
Home position return speed
3 ms or shorter
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
When a home position return is started from the proximity dog
Servo motor speed
Deceleration time constant
Home position
return direction
Home position
shift distance
Home position
return direction
Forward
rotation
0 r/min
Home position return start position
When the stroke end is detected
5 - 39
Creep speed
Home position return
position data
Proximity dog
Proximity dog
Home position
return position data
Home position return start position
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].
Home position
shift distance