Panasonic MINAS-A4P Technical Reference page 72

7-9-4 Home offset
It is possible to set home offset quantity when homing is completed by 32-bit positioning parameter
No.00 (home offset). Home offset quantity can be specified by movement from machine home
position (homing completion position) to 0 position.
- When 16-bits positioning parameter No.37(Home Complete Type) is set to "0"
The motor stops at the machine home position, and the present position is (-home offset quantity).
- When 16-bits positioning parameter No.37(Home Complete Type) is set to "1"
When the motor has stopped at machine home position, instruction position = (- home offset quantity)
is preset, and then the motor performs step operation of home offset quantity at a speed set by 16-bit
positioning parameter No.32 (homing offset speed). In this case, the instruction position after
completion of home offset operation is 0.
Note 1) When 16-bit positioning parameter No.32 (homing offset speed) is 0, the motor is tripped by
error code No.69 (undefined data error protection), and stops in conformance with alarm mode
operation.
Note 2) Do not set (- home offset quantity) out of the maximum movement limit range. Error code
No.72 (maximum movement limit error protection) may occur in operation after completion of
homing.
Note 3) Ensure that the position with instruction position = 0 is not within drive prohibit input range
when setting home offset quantity. Else, home offset operation may not be completed.
Example of offset setting
• When home offset quantity is set to +5000
- direction
• Timing chart
Homing operation complete
Speed
Operation active signal
output
(BUSY)
Output during
deceleration
(DCLON)
Positioning completion
output
(COIN)
Point output
(P1OUT - P32OUT)
A4P
(Homing)
Machine home position
= - Home offset quantity
= -5000
Start offset operation start
Command
Transistor: OFF
Point 0 Maximum point No. (Homing complete)
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
(Home offset operation)
Instruction position = 0
Home offset movement
= Home offset quantity
= +5000
Actual motion
Transistor: OFF
Transistor: ON
Transistor: OFF
Transistor: ON
Transistor: ON
Transistor: OFF
No. SR-DSV09485 - 68 -
+ direction