Panasonic A4P Series instruction manual 119

		[Operation Setting]
• Parameters related to this operation
Parameter number		Description￿
￿	30￿	Specify the high speed for the homing operation (0 to 6000 r/min).￿
￿
	31￿	Specify the low speed for the homing operation (0 to 6000 r/min).￿
￿	32￿	Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
￿	￿	offset operation, refer to page 124.￿
￿	33￿	Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.￿
16.Pr**￿	34￿	Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.￿
￿
	35￿	Specify an operating direction for the homing. (0: positive direction, 1: negative direction)￿
￿
	36￿	Specify a type of homing. ([2]: Home sensor + Z phase (based on the rear end))￿
￿	37￿	Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
￿	￿	operation, refer to page 124.￿
￿	3B￿	Specify the Z phase that an operation stops. ([3] (the 3rd Z phase) in this example)￿
32.Pr**	01	Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.

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.

•A limit sensor in a traveling direction has been detected during detection of the home sensor at the rear end

•A limit sensor in a traveling direction has been detected during detection of specified count of Z phase How to decelerate at the detection of a limit sensor depends on the settings of the servo parameter No. 55 (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)We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase detection start position (L-SPD out of the home sensor area in a figure shown above). The number of Z phase counts may vary. A position where the Z phase is counted specified times is defined as the home position, even if the position is out of the home sensor area during Z phase count.

Setting Operation

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