Panasonic MINAS-A4P Technical Reference

No. SR-DSV09485 - 63 -A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD7-9-3-3 Home sensor + Z-Phase(rear end reference) homingLimit sensor in- directionLimit sensor in+ direction Home sensorExample: In operation in + direction,when phase Z count = 3(1) The start point is between thehome sensor and the limitsensor in - direction.(Including the area above thelimit sensor in - direction)(2) The start point is above thehome sensor.(3) The start point is between thelimit sensor in + direction andthe home sensor.(4) The start point is above the limitsensor in + directionHoming directionThe motor detects home sensor (front end position) in homing direction by 16-bit positioning parameterNo.30 (homing speed (high speed)), decelerate to 16-bit positioning parameter No.31 (homing speed (lowspeed)). After detecting home sensor (rear end position) off, the motor counts Z phase for the number oftimes specified by 16-bit positioning parameter No.3B (homing Z phase count setting), and setscorresponding point at home position.Note 1) When any setting of parameters below is 0, the motor is tripped by homing error protection (errorcode No.68), and the motor stops in conformance with alarm mode operation.- 16-bit positioning parameter No.30 (homing speed (high speed))- 16-bit positioning parameter No.31 (homing speed (low speed))- 16-bit positioning parameter No.33 (acceleration setting in homing)- 16-bit positioning parameter No.34 (deceleration setting in homing)Note 2) When drive prohibit input in operation direction is made valid under the condition below duringhoming operation, the motor is tripped by homing error protection (error code No.68), and stops inconformance with alarm mode operation.- After reversing by detection of limit sensor in homing direction, when the limit sensor reverse tohoming direction is detected with change from ON to OFF of home sensor undetected.- When the limit sensor in moving direction is detected during detection of home sensor (rear endposition).- When the limit sensor in moving direction is detected during detection of Z phase for the specifiednumber of times.The stop operation when the motor detects the limit sensor is depend on the setting of servoparameter No.55 (drive prohibit input operation setting). If the servo parameter No.55 is set 0 or 2,the stop operation is deceleration stop and if 1 or 3, the stop operation is instantaneous stop.Note 3) Make a design so that the sensor signal shall not change (not to exceed the width of sensor) duringthe motor is decelerating after detecting the home sensor or the limit sensor.Note 4) Make a design so that Z phase of motor does not turn on in the proximity of Z phase detection startposition (position where the motor is within home sensor range in L-SPD shown above). Count of Zphase may vary. Even if the motor moves out of home sensor while counting Z phase, the positionwhere Z phase is counted for the specified number of times is set to home position.