Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 91 / 274

6. SERVO MOTOR DRIVING
6 - 32
(h) Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing
method -41 is opposite to that of Homing method -9.
(Note)
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
Home position return speed
Deceleration time constant
Home position shift distance
Home position return position data
Acceleration time
constant
ON
OFF
Proximity dog
Creep speed
Z-phase
DOG (Proximity dog)
10 ms or shorter
Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs.
Revise the length of the proximity dog or revise both the home position return speed and 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