Panasonic MINAS A4P Series - Manual (Page 118)

118
Homing Operation
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction
of homing, has been detected.
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)
when the motor is decelerating after it detects the home sensor or limit sensor.
4) In this system, delay time of a maximum of 2 ms is caused when detecting the home sensor (front end) at
the • part and, therefore, the home position varies to the extent of a maximum of homing speed (low)
multiplied by 2 (ms).
Home sensor + Z phase (based on the rear end)
Example: Z phase count = 3 at an operation in a positive direction
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), decel-
erate to 16.Pr31 (Homing speed (low)), detect the home sensor (at the rear end) turning off, count the Z
phase specified times by 16.Pr3B (Homing Z phase count setting) and define that point as a home position.
(1) A starting point is between the
home sensor and negative
direction limit sensor (also on
the negative direction limit sensor)
Home sensor
Direction of homing
L-SPD
L-SPD
L-SPD
H-SPD
H-SPD
H-SPD
(2) A starting point is on
the home sensor
(3) A starting point is between the
positive direction limit sensor
and home sensor
(4) A starting point is on the
positive direction limit sensor
L-SPD
H-SPD
Positive direction
limit sensor
Negative direction
limit sensor