Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 70

Statusword (6041h)
• When the mode is switched to the hm mode after home position return completion, Statusword (6041h) is
"Homing procedure is completed successfully" unless "0" is set in Bit 12. The following shows the conditions
when "0" is set in Bit 12.
• For incremental system
At power-on
At communication shut-off by master station (controller) reset
At home position return start At home position erasure
• For absolute position detection system
At home position return start
At home position erasure
• To check the home position return status with Statusword (6041h), note the following.
When the mode is switched to the hm mode, Modes of operation display (6061h) is changed to 6 (hm) and
Statusword (6041h) changes at the same time.
The transition of Statusword (6041h) may take 50 ms at a maximum after Bit 4 (Homing operation start) of
Controlword (6040h) is set. To obtain the status of Statusword without any fault, wait 50 ms or more before
obtaining Statusword (6041h).
• Before updating the position after a home position return completion, check that both Bit 12 and Bit 10 of
Statusword (6041h) are changed to "1" and then wait 8 ms. It may take approximately 8 ms for the position
information to be correctly updated.
Index
6041h
6 SERVO MOTOR DRIVING
68
6.1 Homing mode (hm)
Sub Index Access
0 ro
Name Data Type
Statusword U16
Default
