Panasonic A4P Series Data Set, Example, Direction of homing Home position = current position, 123

		[Operation Setting]
• Parameters related to this operation
Parameter number		Description￿
￿	30￿	Specify the high 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. ([6]: Bumping 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.￿
￿	39￿	Specify the bumping detection time (0 to 10000 ms).￿
￿
	3A￿	Specify the torque limit for the bumping homing (0 to 100%).￿
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.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 has turned on at the startup.

•A limit sensor in a traveling direction has been detected during detection of bumping.

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 set value of 16.Pr39 (Bumping detection time) and 16.Pr3A (Torque limit for bumping homing) is small, the bumping may not be detected exactly.

Setting Operation

Data Set

Example:

Direction of homing

Home position = current position

A current position is defined as a home position. If the motor is moved to any position by JOG and hom- ing of data set system is executed, that place is defined as a home position and the homing is com- pleted.

• Parameters related to this operation

Parameter number		Description￿
￿	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.￿
￿	￿	Specify the acceleration for the homing operation in a range between 0 to 3000 r/min. (This is required only
	33￿
￿		when performing an offset operation.)￿
￿	￿	Specify the deceleration for the homing operation in a range between 3000 to 0 r/min. (This is required only
	34￿
16.Pr**￿	￿	when performing an offset operation.)￿
￿	36￿	Specify a type of homing. ([7]: Data set)￿
￿	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.￿
32.Pr**	01	Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.

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