Panasonic A4P Series User Manual

121

Detect the limit sensor in a direction of homing by 16.Pr30 (Homing speed (high)), decelerate and stop. After
that, get out of the limit sensor area once, detect the limit sensor turning off by 16.Pr31 (Homing speed (low))
and define that point as a home position.

(1) A starting point is at any place 
     other than on the positive limit 
     sensor

L-SPD

L-SPD

H-SPD

H-SPD

(2) A starting point is on the positive 
     limit sensor

Positive direction

limit sensor

Negative direction

limit sensor

Direction of homing

Example: An operation in a positive direction

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)

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, a limit sensor in the reverse

direction, not in a direction of homing, has been detected.
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 limit sensor.

4) In this system, delay time of a maximum of 2 ms is caused when detecting the limit sensor at the 

•

 part

and, therefore, the home position varies to the extent of a maximum of homing speed (low) multiplied by
2 (ms).

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. ([4]: Limit sensor)

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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