Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 81 / 274

6. SERVO MOTOR DRIVING
6 - 22
(3) Operation example of Manufacturer-specific Homing method
The following shows an operation example of the Manufacturer-specific home position return.
(a) Method -1 and -33
(1) Dog type home position return
The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.
Home position return speed
Home position
shift distance
Creep speed
td
Proximity dog (Note)
Home position return
position data
Deceleration time
constant
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
ON
OFF
Z-phase
DOG (Proximity dog)
Acceleration time
constant
10 ms or shorter
Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,
[AL. 90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return
speed to the creep speed.
Servo motor speed
Reverse
rotation
0 r/min
Home position
return direction
Home position return start position
After retracting to before proximity dog,
the home position return starts from here.
Proximity dog
When a home position return is started from the proximity dog
Servo motor speed
Reverse
rotation
0 r/min
Forward
rotation
The home position return starts from here.
Home position
return direction
Home position return start position
Proximity dog
Stroke end (Note)
Note. This is not available with the software limit.
When the servo motor returns at the stroke end