Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 92

5. CiA 402 DRIVE PROFILE
(g) Method -8 and -40 (dog cradle type home position return)
The following figure shows the operation of Homing method -8. The operation direction of Homing
method -40 is opposite to that of Homing method -8.
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
Servo motor speed
Note. The software limit cannot be used with these functions.
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
Home position return
position data
Forward
rotation
0 r/min
Reverse
rotation
Home position
shift distance
When the movement is returned at the stroke end
Deceleration time constant
Creep speed
Home position
return direction
Home position
shift distance
Home position
return direction
Proximity dog
Home position return
start position
5 - 55
Home position return
position data
Proximity dog
Proximity dog
Home position
return position data
Home position return start position
Stroke end (Note)
Home position
shift distance