Panasonic A4P Series User Manual

116

Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get out
of the home sensor area once and detect the home sensor (at the front end) by 16.Pr31 (Homing speed
(low)) again. After that, count the Z phase specified times by 16.Pr3B (Homing Z-phase count setting) and
define that point as a home position.

(1) A starting point is between the 
     home sensor and negative 
     direction limit sensor (also on 
     the negative direction limit sensor)

Positive direction

limit sensor

Negative direction

limit sensor

Home sensor

Direction of homing

Z phase

L-SPD

L-SPD

L-SPD

L-SPD

H-SPD

H-SPD

H-SPD

H-SPD

H-SPD

(2) A starting point is on 
     the home sensor

(3) A starting point is between the 
     positive direction limit sensor 
     and home sensor

(4) A starting point is on the 
     positive direction limit sensor

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

Specify the high speed for the homing operation (0 to 6000 r/min).

Specify the low speed for the homing operation (0 to 6000 r/min).

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.

Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.

Specify an operating direction for the homing. (0: positive direction, 1: negative direction)

Specify a type of homing. ([0]: Home sensor + Z phase (based on the front end))

Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset 

operation, refer to page 124.

Specify the Z phase that an operation stops. ([3] (the 3rd Z phase) in this example)

Specify the home offset (–2147483647 to 2147483647 pulses). 

If the home offset is not required, specify “0”.

16.Pr**

32.Pr**

30

31

32

33

34

35

36

37

3B

01

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)