Operation setting, Caution – Panasonic MINAS A4P Series User Manual

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[Operation Setting]

Operation

Setting

A chart of I/O signal timing during homing and an operating procedure are shown as an example of the case
that 16.Pr36 (Homing type) is “0” (Home sensor + Z phase (based on the front end)). The same procedure is
performed also in any other homing mode.

ALL OFF (Homing is not completed)

ALL ON (Homing is not completed)

Open

Command

Actual motion

Homing speed (high-speed)

MIN 10ms

MAX 10ms

Transistor ON

Transistor OFF

Transistor ON

Transistor OFF

Point specifying input
(P1IN to P32IN)

Strobe signal input
(STB)

Home sensor input
(Z-LS)

In-operation signal output
(BUSY)

In-deceleration output
(DCLON)

Positioning completion output
(COIN)

Current position output
(P1OUT to P32OUT)

Speed

MAX 10ms

Transistor OFF

Transistor ON

Setting of parameters

related to homing

operation

Designation of point

number

Start of homing

operation

Check of operation

command execution

Check of completion

of operation

command execution

Check of current

position output

Description

Specify 16.Pr30 (homing speed (high-speed)), 16.Pr31 (homing speed (low-speed)), 16.Pr33

(homing acceleration setting), 16.Pr34 (homing deceleration setting) and 16.Pr35 (homing direction

setting).

Specify a maximum point number depending on SV.Pr57 (selection of number of input points),

using the point

specifying

input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).

By connecting (closing) the open strobe signal input (STB: CN X5 Pin 24) to COM– when 10 ms

has passed after inputting the point

specifying

input (P1IN to P32IN), an operation starts

according to a set value of a point number specified in procedure (3).

Check whether a driver is executed by an operation command. If the driver is executed, open the

strobe signal input (STB) again. If a transistor of the in-operation signal output (BUSY: CN X5 Pin

28) turns OFF, an operation is in the execution. Even if an operation completes when the strobe

signal (STB) does not return to the OPEN state, the in-operation signal output (BUSY) remains OFF.

Check the completion of operation command execution with the in-operation signal output (BUSY).

If a transistor of the signal returns from OFF to ON, the operation is completed.

Check that the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) is

“ALL ON” (homing has been completed) after checking the operation command execution. The

current position output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-

operation signal output (BUSY) turns ON.

(1)

(2)

(3)

(4)

(5)

(6)

Procedure

Homing speed (low-speed)

A maximum point number (homing)

* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)

In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning
the transistor ON/OFF, refer to the diagram above.

Caution

Because a command position and current position are preset at the instant when a home position has been
detected, COIN turns ON momentarily and the motor overruns a little and returns. Then, COIN turns OFF/
ON according to the positional deviation.