Mitsubishi Electric MR-JE-C, Instruction Manual

Page: 97 / 312

6. HOMING MODE
6 - 4
(1) Controlword (6040h)
Index Sub Index Access Name Data Type Default
6040h 0 rw Controlword U16 0000h
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object/register that relate to the home position return operation.
Bit Description
0 to 3 Refer to section 5.1.2.
4 Homing Operation Start
0: Do not start homing procedure
1: Start or continue homing procedure
5 to 6 Reserved
The value at reading is undefined. Set "0" when writing.
7 Refer to section 5.1.2.
8 Halt
0: Bit 4 enable
1: Stop axis according to halt option code (605Dh)
In the indexer method, this bit is disabled.
9 Reserved
The value at reading is undefined. Set "0" when writing.
10 to 14 Refer to section 5.1.2.
15 Reserved
The value at reading is undefined. Set "0" when writing.
To start a home position return operation, turn bit 4 from "0" to "1". When the home position return
operation is completed or an alarm is issued during the return operation, turn bit 4 from "1" to "0".
When bit 8 (Halt) of Controlword (6040h) is set to "1", the servo motor decelerates to a stop. After that,
when bit 8 (Halt) is set to "0" and bit 4 is turned to "0" and then to "1", the home position return operation
is performed again.
(2) Homing method (6098h)
Index Sub Index Access Name Data Type Default
6098h 0 rw Homing method I8 37
The current home position return method can be read.
In addition, a home position return method can be set. To enable the written home position return
method after turning the power back on, execute Store Parameters (1010h). After the execution of Store
Parameters, the setting value of [Pr. PT45] is changed.