Mitsubishi Electric MR-JE-C, Instruction Manual

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12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE
12 - 46
12.4.15 Automatic retract function used for the home position return
For a homing with a proximity dog, when the homing has to start from or beyond the proximity dog, this
function moves the homing position to at which the homing is possible.
(1) When the current position is on the proximity dog
When the current position is on the proximity dog, the position is shifted back automatically to execute
the homing.
Proximity dog
Home position
return direction
Home position return
start position
After the position shifts to the position
before the proximity dog, the home position
return starts from here.
Servo motor speed
Reverse rotation
0 r/min
(2) When the current position is beyond the proximity dog
The position is shifted in a homing direction at the start. When LSP (Forward rotation stroke end) or LSN
(Reverse rotation stroke end) is detected, the position is shifted back automatically. The position is
shifted passing the proximity dog, and then the shifting stops. The homing resumes from that position. If
the proximity dog is not detected, the travel stops at LSP or LSN on the opposite side, and [AL. 90 Home
position return incomplete warning] occurs.
Proximity dog
LSP (Forward rotation stroke end) or
LSN (Reverse rotation stroke end) (Note)
After the position shifts to the position
before the proximity dog, the home position
return starts from here.
Home position
return direction
Home position return
start position
Servo motor speed
Forward rotation
Reverse rotation
0 r/min
Note. The software limit cannot be used instead of LSP (Forward stroke end) and LSN (Reverse stroke end).
12.4.16 CiA 402-type homing method
Refer to section 6.4.2 for details. When referring, replace the wording as follows.
Before replacing After replacing
Controlword bit 4 Homing operation start ST1 (Forward rotation start)