Panasonic A4P Series instruction manual Procedure Description, 115

[Operation Setting]

A chart of I/O signal timing during homing and an operating procedure are shown as an example of the case that 16.Pr36 (Homing type) is “0” (Home sensor + Z phase (based on the front end)). The same procedure is performed also in any other homing mode.

		Homing speed (high-speed)
	Command	Homing speed (low-speed)
Speed		Actual motion

Point specifying input￿

(P1IN to P32IN)

A maximum point number (homing)

MIN 10ms

Strobe signal input￿

Open

Close

Open

(STB)

MAX 10ms

Home sensor input￿

Open

Close

Open

Close

(Z-LS)

In-operation signal output￿

Transis

tor O

N

Transistor ON

Transistor OFF

(BUSY)

In-deceleration output￿

Transistor OFF

Transis

tor OFF

Transistor OFF

(DCLON)

Transistor ON

Transistor ON

Positioning completion output￿

Transis

tor O

N

Transistor OFF

Transistor OFF

Transistor ON

(COIN)

MAX 10ms

Transistor ON

Transistor ON MAX 10ms

Current position output￿

ALL OFF (Homing is not completed)

(P1OUT to P32OUT)

ALL ON (Homing is not completed)

Procedure

Description￿

￿

Setting of parameters

Specify 16.Pr30 (homing speed (high-speed)), 16.Pr31 (homing speed (low-speed)), 16.Pr33

(1)￿ related to homing

(homing acceleration setting), 16.Pr34 (homing deceleration setting) and 16.Pr35 (homing direction

￿

operation￿

setting).￿

(2)￿ Designation of point

Specify a maximum point number depending on SV.Pr57 (selection of number of input points),

￿

number￿

using the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).￿

￿

By connecting (closing) the open strobe signal input (STB: CN X5 Pin 24) to COM– when 10 ms

(3)￿ Start of homing

has passed after inputting the point specifying input (P1IN to P32IN), an operation starts

￿

operation￿

according to a set value of a point number specified in procedure (3).￿

￿

￿

￿

Check whether a driver is executed by an operation command. If the driver is executed, open the

(4)￿ Check of operation

strobe signal input (STB) again. If a transistor of the in-operation signal output (BUSY: CN X5 Pin

￿

command execution￿

28) turns OFF, an operation is in the execution. Even if an operation completes when the strobe

￿

￿

signal (STB) does not return to the OPEN state, the in-operation signal output (BUSY) remains OFF.￿

￿

Check of completion

Check the completion of operation command execution with the in-operation signal output (BUSY).

(5)￿ of operation

If a transistor of the signal returns from OFF to ON, the operation is completed.￿

￿

command execution￿

￿

￿

￿

Check that the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) is

(6)

Check of current

“ALL ON” (homing has been completed) after checking the operation command execution. The

position output

current position output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-

operation signal output (BUSY) turns ON.

*Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)

In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning the transistor ON/OFF, refer to the diagram above.

Setting Operation

Caution

Because a command position and current position are preset at the instant when a home position has been detected, COIN turns ON momentarily and the motor overruns a little and returns. Then, COIN turns OFF/ ON according to the positional deviation.

115