Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 77

Operation example of the CiA 402-type Homing method
The following shows an operation example of the home position return in the CiA 402-type Homing method.
■Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on
negative home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing method 5 is opposite to that
of Homing method 3.
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
*1 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs. Revise
the length of the proximity dog or revise both the home position return speed and creep speed.
*2 The home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
• When a home position return is started from the proximity dog
Home position return direction
Servo motor speed 0 r/min
Reverse
rotation
Moves back automatically before the proximity dog,
then performs home position return from this position.
• When the stroke end is detected
Home position return direction
Forward
rotation
Servo motor speed 0 r/min
Home position return start position
Acceleration time
Home position return speed
constant
10 ms or shorter
Home position shift distance
Proximity dog
Stops due to the occurrence of [AL. 90]
Deceleration time
constant
Creep speed
*2
*1
Home position return start position
Stroke end
Home position return position data
Proximity dog
6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
6
75