Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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4 STARTUP
4.6 Home position return mode
Method -6 and -38 (dog type rear end reference home position return)
This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the
rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return
is performed, the home position has an error calculated by the following expression.

(Encoder resolution)

100/65536 [pulse]
The higher the creep speed, the greater the error of the home position.
The following figure shows the operation of Homing method -6. The operation direction of Homing method -38 is opposite to
that of Homing method -6.
*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. Check the length of the proximity dog or check the home position return speed and creep speed.
• When a home position return is started from the proximity dog
• When the movement is returned at the stroke end
*1 This is not available with the software limit.
Travel distance after proximity dog
+
Home position shift distance
Home position return speed
Creep speed
Proximity dog
*1
Deceleration time
constant
Home position return
position data
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
DOG (Proximity dog)
Acceleration time
constant
3 ms or shorter
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
The home position return starts from here.
Home position
return direction
Home position return start position
Servo motor speed
Forward
rotation
Reverse
rotation
0 r/min
Proximity dog
Stroke end
*1