Panasonic MINAS A6N Series, Руководство по эксплуатации

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4-14 Rev.1.00
3)Change command code 10h to 17h.
4)The servo driver starts profile operation as command code 10h changes to 17h,
accelerates operation (starts operation) according to Pr8.01 “Profile linear acceleration
constant” to reach Pr8.14 “Profile home position return velocity 2”. Note that upon starting
the profile operation, Homing_Complete is set to 0.
5)The host controller checks that command code echo is 17h, Type_Code echo is 33h
and status In_Progress is 1, and no command error has been generated, and homing
operation has started. If command error is detected, the controller should take
appropriate countermeasure according to the error code.
6)Stop at the position where the 1st Z phase is detected.
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Actually, detected position is determined by repositioning.
7)Initialize the position information to set the detected Z phase position to 0, and set
Homing_Complete to 1 to finish profile homing sequence.
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Precautions
• When the detected direction of drive inhibit input and the direction of homing are the
same, Err94.2 “Homing error protection” will occur, disabling reversal of movement
direction.
• When the detected direction of drive inhibit input is opposite to the homing direction, Z
phase is not detected or ignored.
• During profile homing 3 (Z phase), when the detected POT/NOT and the direction of
homing are the same direction, Err94.2 “Homing error protection” will occur and cancel
homing process.
When using this function without using the over-travel inhibit input, do not allocate
POT/NOT to general purpose input. Simply setting Pr5.04 to 1 will not disable the function.
• Other non-cyclic commands except for homing commands may be executed during
operation (until Homing_Complete becomes 1) while maintaining profile operation.
However, do not change the operation mode (Type_Code, Latch_Sel1 of profile
command), otherwise, Err91.1 “RTEX command error protection” and command error
(0104h) will occur.
• When the Z-phase width is great, there may be the wrong detection evaluating that the
amount of deceleration travel is smaller than the Z-phase width.
Adjust the amount of deceleration travel using Pr8.04 “Profile linear deceleration
constant” to allow for a margin that provides a sufficiently greater amount than the
Z-phase width.
.• When there is more than one Z phase, this home position return method may not be
able to detect a desired Z phase.
Therefore, have one Z phase or use the home position return method that combines
the use of the HOME sensor (Type_Code=31h)
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2.Homing Operation
Profile Homing Operation