Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 68

Setting value Home position return types
27 Homing without index pulse
28 Homing without index pulse
33 Homing on index pulse
34 Homing on index pulse
35 Homing on current position
37 Homing on current position
-1 Dog type
(Rear end detection, Z-phase reference)/
Torque limit changing dog type
-33
(Front end detection, Z-phase reference)
-3 Data set type home position return/torque
limit changing data set type
-4 Stopper type
(Stopper position reference)
-36
-2 Count type
(Front end detection, Z-phase reference)
-34
-6 Dog type
(Rear end detection, rear end reference)
-38
-7 Count type
(Front end detection, front end reference)
-39
6 SERVO MOTOR DRIVING
66
6.1 Homing mode (hm)
Home position return Description
direction
Reverse rotation (CW) or Same as the dog type front end reference home position
negative direction return.
Reverse rotation (CW) or Although this type is the same as the dog cradle type home
negative direction position return, the stop position is not on the Z-phase.
Starting from the front end of the dog, the position is shifted
by the travel distance after proximity dog and the home
position shift distance. The position after the shifts is set as
the home position.
Reverse rotation (CW) or Although this type is the same as the dogless Z-phase
negative direction reference home position return, the creep speed is applied
as the movement start speed.
Forward rotation (CCW) or Although this type is the same as the dogless Z-phase
positive direction reference home position return, the creep speed is applied
as the movement start speed.

The current position is set as the home position. This type
can be executed even when the servo amplifier is not in the
Operational enabled state.

The current position is set as the home position. This type
can be executed even when the servo amplifier is not in the
Operational enabled state.
Forward rotation (CCW) or Deceleration starts at the front end of the proximity dog.
positive direction After the rear end is passed, the position specified by the
first Zphase signal, or the position of the first Z-phase
Reverse rotation (CW) or
signal shifted by the specified home position shift distance
negative direction
is used as the home position.
In the indexer method, deceleration starts at the front end
of the proximity dog, and then the first Z-phase signal at
which a deceleration to a stop is possible or the position of
the Z-phase signal shifted by the specified home position
shift distance is used as the home position. The torque limit
values in Positive torque limit value (60E0h) and Negative
torque limit value (60E1h) are enabled during execution of
home position return, and the torque limit value in [Pr.
PC77] is enabled when the home position return is
stopped.
 The current position is set as the home position.
In the indexer method, the current position is set as the
home position. The torque limit value becomes 0 when
switched to the homing mode (hm).
Forward rotation (CCW) or A workpiece is pressed against a mechanical stopper, and
positive direction the position where it is stopped is set as the home position.
If the stroke end is detected during home position return,
Reverse rotation (CW) or
[AL. 90 Home position return incomplete warning] occurs.
negative direction
Forward rotation (CCW) or At the front end of the proximity dog, deceleration starts.
positive direction After the front end is passed, the position specified by the
first Zphase signal after the set distance or the position of
Reverse rotation (CW) or
the Zphase signal shifted by the set home position shift
negative direction
distance is set as a home position. If the stroke end is
detected during home position return, the travel direction is
reversed.
Forward rotation (CCW) or Deceleration starts from the front end of the proximity dog.
positive direction After the rear end is passed, the position is shifted by the
travel distance after proximity dog and the home position
Reverse rotation (CW) or
shift distance. The position after the shifts is set as the
negative direction
home position. If the stroke end is detected during home
position return, the travel direction is reversed.
Forward rotation (CCW) or Deceleration starts from the front end of the proximity dog.
positive direction The position is shifted by the travel distance after proximity
dog and the home position shift distance. The position after
Reverse rotation (CW) or
the shifts is set as the home position. If the stroke end is
negative direction
detected during home position return, the travel direction is
reversed.