Mitsubishi Electric MR-JE-C, Instruction Manual

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6. HOMING MODE
6 - 14
6.4.2 Operation example of the CiA 402-type Homing method
The following shows an operation example of the home position return in the CiA 402-type Homing method.
(1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home
switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
10 ms or shorter
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
ON
OFF
Proximity dog
Creep speed
Z-phase
DOG (Proximity dog)
Acceleration time
constant
Home position
return direction
Home position return start position
After retracting to before proximity dog,
the home position return starts from here.
Proximity dog
Servo motor speed
Reverse
rotation
0 r/min
When a home position return is started from the proximity dog
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