Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 86 / 274

6. SERVO MOTOR DRIVING
6 - 27
(d) Method -4 and -36 (stopper type home position return)
POINT
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.
Reverse
rotation
Forward
rotation
Servo motor speed
Home position return speed
Home position return
position data
Statusword bit 12
Homing attained
ON
OFF
Controlword bit 4
Homing operation start
ON
OFF
Statusword bit 10
Target reached
ON
OFF
Acceleration time
constant
5 ms or longer
ON
OFF
TLC (Limiting torque)
Torque limit value Torque limit value (Note 1) [Pr. PT11] Torque limit value (Note 1)
(Note 2)
Stopper
[Pr. PT10 Stopper type home position return stopper time]
0 r/min
10 ms or shorter
Note 1. When Method -4 is set, the torque limit value of 60E0h (Positive torque limit value) is applied. When Method -36 is set, the
torque limit value of 60E1h (Negative torque limit value) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.
Servo motor speed 0 r/min
Forward
rotation
Home position return start position
Home position
return direction
The servo motor stops due to
the occurrence of [AL. 90].
Stroke end
When the stroke end is detected