Panasonic A4P Series instruction manual Phase Homing, Bumping Homing, Stopper etc, 122

Homing Operation

Z Phase Homing

Example: Z phase count = 3 at an operation in a positive direction

Direction of homing

L-SPD

• Parameters related to this operation

Count the Z phase specified times by 16.Pr3B (homing Z phase count setting) while moving in a direction of homing according to 16.Pr31 (Homing speed (low)) and define that point as a home position.

Parameter number		Description￿
￿	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.￿
￿	34￿	Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.￿
16.Pr**￿
	35￿	Specify an operating direction for the homing. (0: positive direction, 1: negative direction)￿
￿
	36￿	Specify a type of homing. ([5]: Z phase homing)￿
￿	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.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.

•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 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)If a start position of homing is near the Z phase output position, the number of Z phase counts may vary.

Bumping Homing

Example: An operation in a positive direction

Direction of homing

H-SPD

Stopper etc.

The motor moves in a direction of homing accord- ing to 16.Pr30 (Homing speed (high)). During the homing, the motor output torque limit becomes 16.Pr3A (Torque limit for bumping homing). When the state the motor output torque is limited by the hit & stop torque limit has been kept for a period specified by 16.Pr39 (Bumping detection time), de- fine that point as a home position

122