Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 83

■Method 23 and Method 27 (Homing without index pulse)
The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to
that of Homing method 23.
ON
Statusword bit 10
Target reached
OFF
ON
Statusword bit 12
Homing attained
OFF
Acceleration time
constant
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
ON
DOG (Proximity dog)
OFF
Controlword bit 4 ON
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 reaching the creep speed, [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].
*3 The travel distance after proximity dog can be changed with [Pr. PT09] and [Pr. PT71].
• 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 movement is returned at the stroke end
Home position return direction
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Performs home position return from this position.
*1 This is not available with the software limit.
Home position return speed
Home position return position data
10 ms or shorter
Creep speed
*1
Proximity dog
Home position return start position
Proximity dog
Home position return start position
Deceleration time constant
Travel distance after proximity dog
Home position shift distance
Proximity dog
*1
Stroke end
6 SERVO MOTOR DRIVING
*3
+
*2
81
6.1 Homing mode (hm)
6