Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 241 / 495

4-13 Rev.1.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
7
Supplement
6
When In T
roubie
2.Homing Operation
Profile Homing Operation
③
Profile homing 3 (Z phase)
This homing sequence uses Z phase as the trigger signal.
Define the 1st Z phase position in the homing direction as the home position.Stop at the
home and initialize the position information to set this position at 0.
Direction of homing can be set to either positive or negative through the setting of Pr8.12
“Profile return to home position mode setup”.
There are 4 cases in the following figure as a result of the changes in the region during the
start area.
■
Example: Pr.8.12 = 0 (Homing direction = positive direction trigger signal detection)
Ignore Z phase within
reverse direction limit (NOT).
POTErr94.2 (Homing
error protection) will occur
upon detection of POT.
Err94.2 (Homing error
protection) will occur at
startup
Start area
Homing direction
(positive direction)
NOT ON
POT ON
Z phase
Velocity2
Velocity2
Velocity2
CASE1
CASE2
CASE3
CASE4
Velocity 1: Pr.8.13 “Profile home position return velocity 1”
Velocity 2: Pr.8.14 “Profile home position return velocity 2”
Home position
Example: Pr8.12 = 0 (Positive direction trigger signal detection)—homing is started
at a position more negative than Z phase.
1)The host controller sets the command code to normal command (10h) of PP control.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr8.01/Pr8.04) and homing
(Pr8.12 to Pr8.14) should be set before starting operation.
2)With normal command (10h) condition, set Type_Code to 33h.
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation.