Panasonic MINAS A4P Series - Manual (Page 114)

114
Homing Operation
Homing Operation
To start a step operation after turning the power supply on, you need to execute the homing to detect a home
position as the base. Homing must be completed in advance. According to your intended purpose, select
one mode in the “Homing Mode List” below and execute it.
For A) below, homing is not required because the homing is completed when the power supply turns on.
A) Homing is completed when the power supply turns on
• “0” or “2” is set to SV.Pr0B (absolute encoder setting) using an absolute encoder or absolute external scale.
When homing is executed for this setting, an absolute position corresponding to the hone position is
stored in EEPROM of the driver. If the absolute position when homing has been executed last is set to
the hone position, no homing is required.
For details, refer to “Absolute System” on page 136.
• If “1” (homing not required) is set to 16.Pr38 (Homing skip)
For this setting, set a motor position when the power supply turn on to “32.Pr00 (Home offset) set value”.
B) Homing is not completed
• After the power supply turns on, excluding the case A) above
Execute the homing. Then, the homing is completed.
• When an alarm is given, excluding the case A) above
If the setting (the case A) above) that the homing is required when the power supply turns on is not
satisfied, the homing has not yet been completed when an alarm has been given.
In this case, eliminate the cause of the alarm, clear the alarm and execute the homing. Then, the
homing can be completed.
• When the homing starts
The homing is not completed even if the homing starts. When the homing finishes normally, the homing
is completed. If the homing is interrupted due to input of an operation stop (emergency stop, temporary
stop or deceleration-and-stop), servo off, trip, etc., the homing is not completed. Retry the homing from
the beginning.
• When the normal auto-tuning or frequency characteristics measurement is executed
Even if the normal auto-tuning is executed by a console or “PANATERM ® ” or the frequency characteris-
tics measurement is executed by “PANATERM ® ”, the homing is not completed. Execute the homing
again. Otherwise, for the setting A) above, the homing can be completed by turning the power supply on
again.
Homing Mode List
The table below lists the available homing modes selected by combining 16.Pr36 (Homing type) and control
mode (SV.Pr02) with each other. For the details of each mode, refer to the relevant page (page 116 to page
123).
Caution
In the table above, “ ” means “Available” and “ ” means “Unavailable (error code No. 68 (homing error
protection) is shown)”.
16-bit positioning parameter No. 36
(Homing type setting)
0
1
2
3
4
5
6
7
Operation
Home sensor + Z phase (based on the front end)
Home sensor (based on the front end)
Home sensor + Z phase (based on the rear end)
Limit sensor + Z phase
Limit sensor
Z phase homing
Bumping homing
Data set
Positioning
control
Full-closed
control
Relevant
page
P.116
P.117
P.118
P.120
P.121
P.122
P.122
P.123