Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 78

■Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on
negative home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that
of Homing method 4.
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
Servo motor speed
Z-phase
DOG (Proximity dog)
Controlword bit 4
Homing operation start
*1 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
Home position shift distance
• When the stroke end is detected
Home position return direction
Servo motor speed
Home position return start position
6 SERVO MOTOR DRIVING
76
6.1 Homing mode (hm)
ON
OFF
ON
OFF
Acceleration time
constant
Home position return speed
Forward
rotation
0 r/min
10 ms or shorter
Reverse
rotation
ON
OFF
ON
OFF
ON
OFF
Forward
rotation
0 r/min
Reverse
rotation
Forward
rotation
0 r/min
Deceleration time constant
Proximity dog
Home position return position data
Home position return start position
Stroke end
Stops due to the occurrence of [AL. 90]
Creep speed
Home position return
position data
Proximity dog
Home position
*1
shift distance