Panasonic MINAS-A5NL Series - Example of Cyclic Homing Operation 2

No. SX-DSV02310 - 116 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
7-2-3-2 Example of cyclic homing operation 2
Belo
w shows an example which defines the logical rising edge of HOME sensor in the cyclic position control (CP)
mode as the home. In addition, please allocate the HOME sensor to latch compensation terminal SI5..
1) Set Type_Code to logical rising edge of HOME sensor (012h) and set Homing_Ctrl bit to 0, and change normal
command (20h) to return-to-home command (24h). Hold the return-to-home command (24h) until the
return-to-home operation completes.
2) Execute the positioning (at 1st velocity) according to command position, which is based on the position at
power-up.
3) When the logical falling edge of HOME sensor is detected (check HOME bit of the response), stop positioning
and set Homing_Ctrl bit to 1. Then, reverse the rotation (2nd speed).
4) When the servo driver detects the logical rising edge of HOME sensor, set Homing_Complete bit to 1 and
execute servo-lock at home position by ignoring command position.
However, please keep in mind that the value becomes effective with as also during the servo-lock after cyclic
homing operation when feedforward enters from the master (host controller). When this poses a problem, please
set feedforward value as 0 during cyclic homing operation.
5) After confirming that Homing_Complete bit has become 1, set Homing_Ctrl bit to 0, and then set 0 (home
position) to command position.
6) Change the command code to the normal command (20h).
Then, positioning will start according to the new reference. Therefore, be sure to perform step 5) before changing
the command code back to the normal command.
Command velocit
y
HOME
Homin
g_
Ctrl
Actual velocit
y
Home
p
osition
*1)
2nd velocity
Ve lo cit
y
*2)
1st velocity
20h 20h 24h
Command
code
20h
20h
24h
Homing_Complete
Busy
Command
code
echo
Time
2.02.0