Panasonic A4P Series instruction manual Homing Offset Operation, Timing chart, 124

Homing Operation

Homing Offset Operation

The home offset at the completion of homing can be specified by 32.Pr00 (Home offset). Specify the travel from a machine home position (homing completion position) to the “0” position as the home offset.

•16.Pr37 (Home complete type) is set to “0”

The motor stops at the machine home position when the homing has completed and, at the same time, a command position is set to [- home offset].

•16.Pr37 (Home complete type) is set to “1”

After the motor stops at a machine home position, preset a command position = [- home offset]. Then, perform a step operation for the home offset at a speed specified by 16.Pr32 (Homing offset speed). In this case, the command position after the home offset operation completes becomes “0”

Caution

1)If 16.Pr32 (Homing offset speed), 16.Pr33 (Homing acceleration setting) and 16.Pr34 (Homing decelera- tion setting) are “0”, an operation trips due to the error code No. 69 (undefined data error protection) and stops according to an operation at alarm occurrence.

2)Do not set [- home offset] out of a maximum travel limit range. The error code No. 72 (maximum travel limit error protection) may be shown.

3)Set the home offset appropriately so that a position of [command position = 0] is not in the over-travel inhibit input range. The home offset may not be completed.

*Example of homing offset

•Homing offset is set to “+5000”￿

(Homing offset operation)

(Homing)

Negative￿

direction

Machine homing ￿ = – homing offset ￿ = –5000

Positive￿ direction

Command position = 0

Homing offset travel ￿

=homing offset ￿

=+5000

• Timing chart

	Completion of homing operation
Speed	Command

In-operation signal output￿ (BUSY)

In-deceleration output￿ (DCLON)

Positioning completion output￿ (COIN)

Current position output￿

Start of homing offset operation

Actual motion

Transistor OFF		Transistor ON
Transistor OFF		Transistor OFF
	Transistor ON
Transistor OFF
		Transistor ON

(P1OUT to P32OUT)

Point 0

Maximum point number (homing completed)

124