Panasonic A4P Series User Manual

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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.

• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home

sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction
of homing, has been detected.

• 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) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)

when the motor is decelerating after it detects the home sensor or limit sensor.

4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase

detection start position (L-SPD in the home sensor area in a figure shown at the previous page). The
number of Z phase counts may vary. A position where the Z phase is counted specified times is defined as
the home position, even if the position is out of the home sensor area during Z phase count.

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, detect the home sensor (at the front end) by 16.Pr31 (Homing speed (low))
again 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)

Home sensor

Direction of homing

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

Positive direction

limit sensor

Negative direction

limit sensor

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. ([1]: Home sensor (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 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

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