Mitsubishi Electric MR-J4-_GF, Instruction Manual

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6. SERVO MOTOR DRIVING
6 - 8
The current control status can be checked.
The following table lists the bits of this object that relate to the home position return operation.
Bit Description
0 to 9 Refer to section 5.1.2.
10
Target reached
Refer to (a) and the following table for the definition.
11 Refer to section 5.1.2.
12
Homing attained
Refer to (b) and the following table for the definition.
13
Homing error
Refer to (c) and the following table for the definition.
14 to 15 Refer to section 5.1.2.
(a) Bit 10 (Target reached) of Statusword (6041h)
Bit 10 turns on (1) when the command position is reached. If bit 8 (Halt) of Controlword (6040h) is
set to "1", bit 10 turns on (1) when a deceleration stop is completed.
If a command is input again, bit 10 turns off (0).
(b) Bit 12 (Homing attained) of Statusword (6041h)
Bit 12 turns off (0) when a home position return operation is started and turns on (1) when the
operation is completed. For absolute position detection system, bit 12 turns on (1) after the power
supply is turned on.
(c) Bit 13 (Homing error) of Statusword (6041h)
Bit 13 turns on (1) when an alarm or warning ([AL 90.2], [AL 90.3], [AL 90.5], [AL 96.1], [AL 96.2], or
[AL 96.3]) occurs during a home position return operation.
The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword (6041h) in the hm mode.
Bit 13 Bit 12 Bit 10 Definition
0 0 0 Homing procedure is in progress
0 0 1 Homing procedure is interrupted or not started
0 1 0 Homing is attained, but target is not reached
0 1 1 Homing procedure is completed successfully
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 reserved