Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual page 62

■Method -3 (Data set type homing)
The following figure shows the operation of Homing method -3. This is the same as Homing method 37.
Statusword bit 12
Homing attained
Servo motor speed
Controlword bit 4
Homing operation start
■Method -4 and -36 (Stopper type homing)
Since the workpiece collides with the mechanical stopper, the homing speed must be low enough.
The following figure shows the operation of Homing method -4. The homing direction of Homing method -36 is opposite to that
of Homing method -4.
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
Servo motor speed
Controlword bit 4
Homing operation start
TLC (Limiting torque)
Torque limit value
*1 When Method -4 is set, the torque limit value of [Positive torque limit value (Obj. 60E0h)] is applied. When Method -36 is set, the torque
limit value of [Negative torque limit value (Obj. 60E1h)] is applied.
*2 If the torque limit value has been reached, TLC remains on even after homing finishes.
• When the stroke end is detected
Servo motor speed
2 CONTROL MODE
60
2.1 Control mode [G] [WG]
ON
OFF
Forward
rotation
0 r/min
Reverse
rotation
ON
OFF
ON
OFF
ON
OFF
Acceleration time constant
Forward
rotation
0 r/min
Reverse
rotation
ON
OFF
ON [Pr. PT10 Stopper type homing - Stopping time]
OFF
*1
Torque limit value
Homing direction
Forward
rotation
0 r/min
Homing start position
Homing speed
3 ms or shorter
5 ms or longer
[Pr. PT11]
Stroke end
The servo motor stops with [AL. 090].
Homing position data
Homing position data
Stopper
Torque limit value
*2
*1