Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 93

Method -4 and -36 (stopper type home position return)
• Since the workpiece collides with the mechanical stopper, the home position return speed must be low
enough.
The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to
that of Homing method -4.
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
Controlword bit 4
Homing operation start
OFF
ON
TLC (Limiting torque)
OFF
Torque limit value
*1 When Method -4 is set, the torque limit value of 60E0h (Positive torque limit value) is applied. When Method -36 is set, the torque limit
value of 60E1h (Negative torque limit value) is applied.
*2 If the torque limit value is reached, TLC remains on after the home position return is completed.
• 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 constant
Home position return speed
10 ms or shorter
5 ms or longer
[Pr. PT10 Stopper type home position return stopper time]
*1
Torque limit value
Stops due to the occurrence of [AL. 90]
Stopper
[Pr. PT11]
Stroke end
Home position return
position data
*2
*1
Torque limit value
6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
6
91