Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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4 STARTUP
4.6 Home position return mode
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.
• When a home position return is started from the proximity dog
• When the stroke end is detected
Servo motor speed
Reverse
rotation
0 r/min
Forward
rotation
Statusword bit 10
Target reached
ON
OFF
ON
OFF
Statusword bit 12
Homing attained
ON
OFF
ON
OFF
Controlword bit 4
Homing operation start
3 ms or shorter
Home position return speed
Deceleration time constant
Home position shift distance
Home position return position data
ON
OFF
Proximity dog
Creep speed
Z-phase
DOG (Proximity dog)
Acceleration time
constant
Home position
return direction
Home position return start position
After retracting to before proximity dog,
the home position return starts from here.
Servo motor speed
Reverse
rotation
0 r/min
Proximity dog
Home position return start position
Home position
return direction
Servo motor speed
Forward
rotation
0 r/min
The servo motor stops due to
the occurrence of [AL. 90].
Stroke end