Mitsubishi MR-J4-100A, Instruction Manual, Page: 451 / 640

12. ABSOLUTE POSITION DETECTION SYSTEM
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12.6.3 Home position setting
(1) Dog type home position return
Preset a home position return creep speed at which the machine will not be given impact.
On detection of a zero pulse, CR is turned from off to on. At the same time, the servo amplifier clears the
droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the
home position absolute position data.
CR should be turned on after it has been confirmed that INP is on. If this condition is not satisfied, [AL.
96 Home position setting warning] will occur, but that warning will be reset automatically by making
home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
OFF
ON
DOG (Proximity dog)
OFF
ON
INP (In-position)
OFF
ON
OFF
ON
OFF
ON
CR (Home position setting)
ABSB0 (ABS transmission data bit 0)
ABSB1 (ABS transmission data bit 1)
Servo motor
Update
Proximity dog
20 ms or longer 20 ms or longer
ABSV
(Absolute position undetermined)
Control circuit power supply