Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

Page: 163 / 646

4 STARTUP
4.6 Home position return mode
161
4
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.
*1 When Method -4 is set, the torque limit value (Positive torque limit value) is applied. When Method -36 is set, the torque limit value
(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
Statusword bit 12
Homing attained
ON
OFF
Servo motor speed
Controlword bit 4
Homing operation start ON
OFF
Statusword bit 10
Target reached
ON
OFF
Acceleration time
constant
Home position return speed
Home position return
position data
3 ms or shorter
5 ms or longer
ON
OFF
TLC (Limiting torque)
Torque limit value
Torque limit value
*1
[Pr. PT11] Torque limit value
*1
*2
Stopper time [Pr. PT10]
Reverse
rotation
0 r/min
Forward
rotation
Stopper
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