Homing Operation - Panasonic MINAS A6N Series Operating Instructions Manual

4
Trial Run
When position and using in incremental mode, homing is required before positioning.
With MINAS-A6N, the following return-to-home sequences can be used.
Caution
Velocity(CV)/torque control(CT)mode can not use homing opration(absolute encoder multi
circle data cleared except). Once you switch to the Cyclic position control (CP) mode or the
Profile position control (PP) mode for the homing operation, then, return to the original control
mode.
Note
Please refer to P.3-2 to 3-3 for command input（PP, CP, CV, CT）.
Cyclic Homing
Homing of cyclic position control mode, dependent on controller specifications.
Following the used controller.
Profile Homing
Homing for profile position control mode, please set the following parameters.
● Related parameter
Parameter
No.
Pr8.01
Pr8.04
Pr8.12
Pr8.13
Pr8.14
Pr7.25
P.3-111,117,118 "Details of Panaterm"
Related page
4-8

2.Homing Operation

Outline of Homing Operation
Title
The host controller controls the return-to-home sequence in cyclic position
Cyclic homing
control (CP) mode.
The servo driver controls the return-to-home sequence in profile position
Profile homing
control (PP) mode
Title
Profile linear
acceleration constant
Profile linear
deceleration constant
Profile return to home
position mode setup
Profile home position
return velocity 1 2147483647
Profile home position
return velocity 2 2147483647
RTEX speed unit
setup
Range Unit
Set acceleration for profile position control (PP).
1 to
10000
Be sure to set this parameter before starting
429496 command unit/s 2
operation.
Set deceleration for profile position control (PP).
1 to
10000
Be sure to set this parameter before starting
command unit/s
429496 2
operation.
Select the polarity of latch trigger signal to be
0 to 1
—
detected during profile homing operation.
0 to Set the velocity for high velocity operation
Command unit/s
or r/min
during profile homing.
0 to Set the velocity for low velocity operation
Command unit/s
or r/min
during profile homing.
Set up the unit of speed data used in RTEX
communication.
0 to 1
— Set up the unit both for both command data
such as command speed and for response
data such as actual speed.
Contents
Function
Rev.1.00