Panasonic A4P Series User Manual

115

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.

ALL OFF (Homing is not completed)

ALL ON (Homing is not completed)

Open

Open

Close

Open

Open

Command

Actual motion

Homing speed (high-speed)

MIN 10ms

MAX 10ms

Transistor ON

Transistor ON

Transistor ON

Transistor ON

Transistor OFF

Transistor OFF

Transistor OFF

Transistor ON

Transistor ON

Transistor OFF

Transistor OFF

Point specifying input
(P1IN to P32IN)

Strobe signal input
(STB)

Home sensor input
(Z-LS)

In-operation signal output
(BUSY)

In-deceleration output
(DCLON)

Positioning completion output
(COIN)

Current position output
(P1OUT to P32OUT)

Speed

MAX 10ms

MAX 10ms

Transistor OFF

Close

Transistor ON

Transistor ON

Close

Setting of parameters 

related to homing 

operation

Designation of point 

number

Start of homing 

operation

Check of operation 

command execution

Check of completion 

of operation 

command execution

Check of current 

position output 

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

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

setting).

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

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 

has passed after inputting the point 

specifying

 input (P1IN to P32IN), an operation starts 

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 

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

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

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

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

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

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

operation signal output (BUSY) turns ON.

(1)

(2)

(3)

(4)

(5)

(6)

Homing speed (low-speed)

A maximum point number (homing)

 * 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.

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.