Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 89

5. CiA 402 DRIVE PROFILE
(d) Method -4 and -36 (stopper type home position return)
The following figure shows the operation of Homing method -4. The operation direction of Homing
method -36 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
Controlword bit 4
Homing operation start
OFF
ON
TLC (Limiting torque)
OFF
Torque limit value
Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (60E0h) is applied. When Method -36 is set, the
torque limit value of Negative torque limit value (60E1h) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.
POINT
Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.
Acceleration time
constant
[Pr. PT10 Stopper type home position return stopper time]
Torque limit value (Note 1)
Forward
rotation
Servo motor speed
Home position return speed
3 ms or shorter
5 ms or longer
[Pr. PT11]
Home position
return direction
0 r/min
Home position return start position
When the stroke end is detected
5 - 52
Home position return
position data
Stopper
(Note 2)
Torque limit value (Note 1)
Stroke end
The servo motor stops due to
the occurrence of [AL. 90].