Homing Operation - Panasonic MINAS-A4P Technical Reference

7-9

Homing operation

In order to start step operation after turning on power, homing operation must be performed for detecting
reference home position first for setting homing completion condition.
Choose one from 7-9-1 Homing mode list and execute one according to your purpose of use.
However, homing completion condition is established when power is turned on in the setting below:
1) When absolute encoder or absolute external scale is used, and servo parameter No.0B (absolute encoder
setting) is set to 0 or 2.
When homing is performed in this setting, absolute position corresponding to home position is saved in
EEPROM. When turning on power, homing can be omitted by setting the absolute position of final
homing to home position by use of this data.
See 10. Absolute encoder and absolute external scale for detail.
2) When 16-bit positioning parameter No.38 (homing operation disable setting) is 1 (homing unnecessary)
In this setting, the motor position when power is turned on is the preset value of 32-bit positioning
parameter No.00 (home position offset).
In the following cases, homing incompletion condition is recovered.
3) When starting homing operation
When homing operation is started, the motor always returns to homing incompletion condition. In
general, homing completion condition is established as soon as homing is normally completed, but if
homing is cut off by input of stop operation (instantaneous stop, temporary stop, and deceleration stop),
servo off, tripping etc, homing incompletion condition remains.
Try homing operation again from the first.
4) When alarm is on in the setting that required homing in power-on
In the setting that requires homing when power is turned on (when 1) and 2) above are both unsatisfied),
the motor returns to homing incompletion condition when alarm is on.
In this case, eliminate the factor of alarm and then clear alarm and perform homing, then homing can be
completed.
7-9-1 homing mode list
The list of homing mode is shown below which can be chosen by combination of 16-bit positioning
parameter No.36 (homing procedure setting) and control mode.
16-bits positioning parameter (36)
(Homing procedure setting)
0
1
2
3
4
5
6
7
Note) "○" above indicates usable, and "X" unusable. (Error code No.68 (homing error protection) occurs.)
A4P
Description of operation
Home sensor + Z-phase (front end reference)
Home sensor (front end reference)
Home sensor + Z-Phase (rear end reference)
Limit sensor + Z-Phase
Limit sensor
Z-Phase homing
Bumping homing
Data setting system
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
No. SR-DSV09485
Position control Full closed
control
○ ×
○ ○
○ ×
○ ×
○ ○
○ ×
○ ○
○ ○
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