Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 97

Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to
that of Homing method -9.
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
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 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
10 ms or shorter
*2
Home position shift distance
Proximity dog
Home position return start position
Proximity dog
Home position return start position
Deceleration time
constant
Home position return position data
Creep speed
*1
Proximity dog
Stroke end
6 SERVO MOTOR DRIVING
*1
6.1 Homing mode (hm)
6
95