Panasonic MINAS-A4P Technical Reference page 71

7-9-3-7 Bumping homing
The motor operates in homing direction by 16-bit positioning parameter No.30 (homing speed (high speed)).
Output torque limit of motor during homing operation is 16-bit positioning parameter No.3A (bumping
torque limit). When the condition where motor output torque is limited by bumping torque limit has lasted for
16-bit positioning parameter No.39 (bumping detection time), corresponding position is set to home position.
Note 1) When any setting of parameters below is 0, the motor is tripped by homing error protection (error
code No.68), and the motor stops in conformance with alarm mode operation.
- 16-bit positioning parameter No.30 (homing speed (high speed))
- 16-bit positioning parameter No.33 (acceleration setting in homing)
- 16-bit positioning parameter No.34 (deceleration setting in homing)
Note 2) When drive prohibit input in operation direction is made valid under the condition below during
homing operation, the motor is tripped by homing error protection (error code No.68), and stops in
conformance with alarm mode operation.
- When the limit sensor is on in starting
- When the limit sensor in forward direction is detected during bumping detection
The stop operation when the motor detects the limit sensor is depend on the setting of servo
parameter No.55 (drive prohibit input operation setting). If the servo parameter No.55 is set 0 or 2,
the stop operation is deceleration stop and if 1 or 3, the stop operation is instantaneous stop.
Note 3) When the setting values of 16-bit positioning parameter No. 39 (bumping detection time) and No. 34
(bumping torque limit) are small, bumping detection may not be done accurately.
7-9-3-8 Data setting system
Present position is set to home position. For example, the motor is moved to the optional position by JOG
and executes homing in data setting system, that position shall be home position and in homing completion
condition.
A4P
Ex: In plus direction operation
Homing direction
H-SPD
Stopper, etc.
Ex::
Homing direction
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
No. SR-DSV09485
Home position
= Present position
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