Panasonic MINAS A6 Multi Series Technical Reference page 222

7.5 About the protection function setting for homing return by
using the Z phase
If the following parameters are set, the driver can detect inputting of over-travel inhibition (POT, NOT)
during homing return to the Z phase detection position, which is treated as the origin with the operation for
homing return by the Z phase.
If inputting of over-travel inhibition is detected during the return operation, Err94.3 (returning to origin error
protection 2) occurs, and the motor electricity is cut off, and it is stopped.
Pr7.22 bit7 (Communication function extended setup 1 (In Z phase homing Over-travel inhibit input
setup)) =1

If the above value is set to the parameter and the Z phase in the vicinity of inputting of
over-travel inhibition (POT/NOT) is configured as the origin, Err94.3 may be erroneously
detected because overshoot occurs while returning to the Z phase detection position
treated as the origin.
In that case, please away the Z phase of the homing completion position from inputting of
over-travel inhibition (POT/NOT), homing return near inputting of over-travel inhibition
(POT/NOT) so as not to occur.
Example of false detection of Err94.3

If the above value is not set for the parameter, detection of inputting of over-travel
inhibition (POT/NOT) during returning to the Z phase detection position, which is treated as
the origin when returning to the origin by the Z phase, is disabled.
 Relevant parameters
Class No. Attribute Title
5 04 C
7 22 R
Range
Over-travel inhibit 0 to 2
input setup
Communication -32768 to
function extended 32767
setup 1
Example for preventing false detection of Err94.3
Unit Function
- Set up the operation of the run-inhibition (POT, NOT) inputs.
Normally it should be set to 1.
0: Deceleration stop on servo (MINAS A6) side (sequence upon
inputting over-travel inhibition)
POT -> inhibits positive direction drive,
NOT -> inhibits negative direction drive.
When POT is input during positive direction driving, stops the
drive according to Pr 5.05 Sequence at over-travel inhibit.
The similar function NOT is applied in reverse direction.
1: CoE (CiA402) side deceleration stop
POT -> inhibits positive direction drive,
NOT -> inhibits negative direction drive.
When POT is input during positive direction driving, or NOT is
input during negative direction driving, EtherCAT profile
slowdown defined in CoE(CiA402) works and stops it.
The constants at the slowdown differ for every control mode.
2: Deceleration stop on servo (MINAS A6) side (sequence at
alarm) POT or NOT input activates Err 38.0 Run-inhibition input
protection.
- bit 7: In Z phase homing Over-travel inhibit input setup
0: Invalid
1: Valid
Protective Functions
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