Panasonic A4P Series User Manual

123

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.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.

• A limit sensor has turned on at the startup.
• A limit sensor in a traveling direction has been detected during detection of bumping.

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) If a set value of 16.Pr39 (Bumping detection time) and 16.Pr3A (Torque limit for bumping homing) is small,

the bumping may not be detected exactly.

Example:

Direction of homing

Home position = current position

Specify the high 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. ([6]: Bumping Homing)

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 bumping detection time (0 to 10000 ms).

Specify the torque limit for the bumping homing (0 to 100%).

Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.

16.Pr**

32.Pr**

30

32

33

34

35

36

37

39

3A

01

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. (This is required only 

when performing an offset operation.)

Specify the deceleration for the homing operation in a range between 3000 to 0 r/min. (This is required only 

when performing an offset operation.)

Specify a type of homing. ([7]: Data set)

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**

32

33

34

36

37

01

A current position is defined as a home position. If
the motor is moved to any position by JOG and hom-
ing of data set system is executed, that place is
defined as a home position and the homing is com-
pleted.