Panasonic MINAS-BL GP series Instructions Manual page 27

Detail of parameters
• Homing operation
In order to establish the reference position of motor, homing operation is always required
for positioning operation.
In applications where homing operation is not required, set Pr48 at "1", then the position
where power is turned on is assumed to be the home (0), by which positioning operation is
enabled. After completion of homing, when the limit sensor in motor operation direction is
detected, hardware limit error (E-LT) is found.
When you use the relative travel command in positioning, positioning might shift after the
motor trip reset, or at positioning after turning the motor-free signal from OFF to ON. If you
find any problem in such a use, set Pr49 at "1" to apply "homing operation required again
when motor is free".
This motor support the following homing operation.
Parameter
Homing name
40
0 Home sensor homing 1 Edge of home sensor is detected to be set to the home.
When the home sensor is on at the homing command, cor-
responding position is set to the home.
1 Home sensor homing 2
In any other case, operation the same as home sensor
homing 1 is executed.
5 Home sensor homing 3 When reversing is not desired in homing (only for rotation system)
2 Limit sensor homing Edge of limit sensor is detected and set to the home.
3 Bumping homing Mechanical end is detected and set to the home.
4 Home resetting Present position is reset to be the home.
In order to execute homing operation, set Pr50 to 53 as follows to assign the function of
signal input.
Assign one of signal inputs 1 to 4 (I1 to I4) to the input used for homing start signal. (Set
Pr52 at "3" for I3.) Be sure to assign the function required for respective homing to the sig-
nal input. Unnecessary sensors (functions) need not be assigned if not required.
When Pr48 is set to "2", it is enabled to execute homing operation with run start signal (run
start and sequential run start) when homing is not completed.
See Pr 40 to 49 for parameters relating to homing operation. Set the homing speed as low
as possible in order to improve accuracy in homing.
[Timing chart of homing operation]
Speed
(20 ms or longer)
Homing start signal
OFF
(input)
In-motion signal
OFF
(output)
Homing completion
Undefined
signal (output)
Description
Home detection
ON OFF
ON OFF
MAX 10 ms
OFF ON
－ 52 －
(1) Change the homing start signal (or run start signal (when Pr48 is 2)) from contactoff
to the status of connection to GND (on). It activates operation. Even when homing
has been completed, if homing is started, the homing completion signal turns off.
(2) Make sure that in-motion signal (BUSY) is on and return the homing start signal to
open status. Alternatively, enable the homing operation return start signal for a mini-
mum of 20msec.
(3) When operation is completed, in-motion signal (BUSY) returns to off. (If the homing
start signal is not off, even when operation is completed, the in-motion signal is still
on.) Also, when homing is completed normally, the homing completion signal turns on.
• Run signal can be given to the motor only when in-motion signal is off.
• In homing operation, setting of Pr20 is applied to acceleration and deceleration pat-
tern (linear and S-shape) as for acceleration. In deceleration, the pattern is linear ir-
respective of setting of Pr21.
Home sensor homing 1 (Pr40 = 0), Home sensor homing 2 (Pr40 = 1)
e.g. 1: When "Pr41 Detects the homing direction in − direction" is set.
− direction
limit sensor
(1) When the starting point is between
the home sensor and limit sensor
in + direction
(Including when starting point is
upon the limit sensor in + direction)
(2) When the starting point is
upon the home sensor*.
(3) When the starting point is
between the limit sensor in
− direction and home sensor.
(4) When the starting point is
upon the limit sensor in
Starting
point
− direction.
* In the case of home sensor homing 2, when homing operation is executed upon the
home sensor of 2, the motor is not activated but the position is set to the home, and
homing operation is completed.
Homing direction(−)
Coordinate system(+)
Home sensor
Home
Starting
point
Home
Starting
point
Home
Starting point
Home
－ 53 －
+ direction
limit sensor