Panasonic MINAS-A5NL Series Technical Reference page 148

Example: Pr.8.12 = 0 (Positive direction trigger signal detection)—homing is started at a position more positive than
Z phase.
1) The host controller sets the command code to normal command (10h) of PP control.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr.8.01/Pr.8.04) and homing (Pr.8.12Pr.8.14) should be set before
starting operation.
2) With normal command (10h) condition, set Type_Code to 35h.
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation.
3) Change command code 10h to 17h.
4) The servo driver starts profile operation as command code 10h changes to 17h, accelerates operation (starts
operation) according to Pr.8.01Profile linear acceleration constant to reach Pr.8.14 (Profile homing velocity 2). Note
that upon starting the profile operation, Homing_Complete is set to 0.
5) The host controller checks that command code echo is 17h, Type_Code echo is 35h and status In_Progress is 1, and
no command error has been generated, and homing operation has started. If command error is detected, the
controller should take appropriate countermeasure according to the error code.
6) When POT is detected before Z phase sensor detection, start deceleration according to Pr.8.04 to stop.
7) At the stop position, start movement in the direction opposite to the homing at the speed specified by Pr.8.14.
8) When Z phase sensor turns on and then OFF edge is detected, start deceleration at the rate specified by Pr.8.04.
9) At the stop position, start movement in the homing direction, accelerating according to Pr.8.14 (Profile homing
velocity 2), and stop at the position where Z phase sensor ON (rising edge) is detected.
▪ Actually, detected position is determined by repositioning.
10) Initialize the position information to set the detected Z phase position to 0, and set Homing_Complete to 1 to finish
profile homing sequence.
 Precautions
• When the detected direction of drive inhibit input is opposite to the homing direction, Z phase is not detected or
ignored.
• During profile homing 5 (Z phase), Pr.5.04 (Over-travel inhibit input setup) and Pr.5.05 (Sequence at over-travel
inhibit) are temporarily disabled. When POT/NOT is detected, reverse operation will automatically start after
deceleration and stop.
When using this function without using the over-travel inhibit input, do not allocate POT/NOT to general purpose input.
Simply setting Pr.5.04 to 1 will not disable the function.
• If an error occurs during homing, e.g. the sensor cannot detect the home during reverse operation due to the over-travel
inhibit input and detects the over-travel inhibit input ON of reverse side, or, if both of over-travel inhibit inputs are ON
state, Err94.2 (Homing error protection) will occur, canceling homing process..
• Other non-cyclic commands except for homing commands may be executed during operation (until Homing_Complete
becomes 1) while maintaining profile operation. However, do not change the operation mode (Type_Code, Latch_Sel1
of profile command), otherwise, Err91.1 (RTEX command error protection) and command error (0104h) will occur.
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 140 -