Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 88

5. CiA 402 DRIVE PROFILE
Servo motor speed
Note. The software limit cannot be used with these functions.
(c) Method -3
1) Data set type home position return
The following figure shows the operation of Homing method -3. This type cannot be executed
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
2) Torque limit changing data set type home position return
The following figure shows the operation of Homing method -3 in the indexer method. This type
cannot be executed during servo-off.
Modes of operation
Statusword bit 12
Homing attained
Point actual value
Servo motor speed
Controlword bit 4
Homing operation start
Enabled torque limit value
Home position
return direction
Forward
Home position return start position
rotation
0 r/min
Reverse
rotation
The home position return starts from here.
When the movement is returned at the stroke end
POINT
Torque limit changing data set type home position return is available with servo
amplifiers with software version B2 or later.
ON
OFF
Hold the previous value
Forward
rotation
0 r/min
Reverse
rotation
ON
OFF
Torque limit
value2
Proximity dog
Home position return position data
Homing mode (hm)
Home position return
position data
0%
5 - 51
Stroke end (Note)
0
Torque limit value2