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8-1-4 Homing operation
In order to establish the reference position of motor, homing operation is always required for positioning operation.
In applications where homing operation is not required, set Pr48 at "1", then the position where power is turned on is
assumed to be the home (0), by which positioning operation is enabled. After completion of homing, when the limit sen-
sor in motor operation direction is detected, hardware limit error (E-LT) is found.
When you use the relative travel command in positioning, positioning might shift after the motor trip reset, or at posi-
tioning after turning the motor-free signal from OFF to ON. If you find any problem in such a use, set Pr49 at "1" to ap-
ply "homing operation required again when motor is free".
This motor support the following homing operation.
Parameter
Homing name
40
０
Home sensor homing 1
１
Home sensor homing 2
５
Home sensor homing 3
２
Limit sensor homing
３
Bumping homing
４
Home resetting
In order to execute homing operation, set Pr50 – 53,70,71 as follows to assign the function of signal input.
Assign one of signal inputs 1 – 4,5,7 (I1 – I6) to the input used for homing start signal. (Set Pr52 at "3" for I3.) Be sure
to assign the function required for respective homing to the signal input. Unnecessary sensors (functions) need not be
assigned if not required.
When Pr48 is set to "2", it is enabled to execute homing operation with run start signal (run start and sequential run
start) when homing is not completed.
See Pr 40 - 49 for parameters relating to homing operation. Set the homing speed as low as possible in order to im-
prove accuracy in homing.
[Timing chart of homing operation]
Speed
Homing start
OFF
signal (input)
In-motion signal
(output)
Homing completion
signal (output)
(1) Change the homing start signal (or run start signal (when Pr48 is 2)) from contact off to the status of connection to
GND(on). It activates operation. Even when homing has been completed, if homing is started, the homing comple-
tion signal turns off.
(2) Make sure that in-motion signal (BUSY) is on and return the homing start signal to open status. Alternatively, ena-
ble the homing operation return start signal for a minimum of 20msec.
(3) When operation is completed, in-motion signal (BUSY) returns to off. (If the homing start signal is not off, even
when operation is completed, the in-motion signal is still on.) Also, when homing is completed normally, the homing
completion signal turns on.
･ Run signal can be given to the motor only when in-motion signal is off.
･ In homing operation, setting of Pr20 is applied to acceleration and deceleration pattern (linear and S-shape) as for
acceleration. In deceleration, the pattern is linear irrespective of setting of Pr21.
Edge of home sensor is detected to be set to the home.
When the home sensor is on at the homing command,
corresponding position is set to the home.
In any other case, operation the same as home sensor homing 1 is executed.
When reversing is not desired in homing (only for rotation system)
Edge of limit sensor is detected and set to the home.
Mechanical end is detected and set to the home.
Present position is reset to be the home.
(20 ms or longer)
ON
OFF
MAX10 ms
Undefined
OFF
Description
Home detection
OFF
ON
№ SX-DCT00221 -21-
OFF
ON
Panasonic Corporation
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