114Homing OperationHoming OperationTo start a step operation after turning the power supply on, you need to execute the homing to detect a homeposition as the base. Homing must be completed in advance. According to your intended purpose, selectone mode in the “Homing Mode List” below and execute it.For A) below, homing is not required because the homing is completed when the power supply turns on.A) Homing is completed when the power supply turns on• “0” or “2” is set to SV.Pr0B (absolute encoder setting) using an absolute encoder or absolute external scale.When homing is executed for this setting, an absolute position corresponding to the hone position isstored in EEPROM of the driver. If the absolute position when homing has been executed last is set tothe hone position, no homing is required.For details, refer to “Absolute System” on page 136.• If “1” (homing not required) is set to 16.Pr38 (Homing skip)For this setting, set a motor position when the power supply turn on to “32.Pr00 (Home offset) set value”.B) Homing is not completed• After the power supply turns on, excluding the case A) aboveExecute the homing. Then, the homing is completed.• When an alarm is given, excluding the case A) aboveIf the setting (the case A) above) that the homing is required when the power supply turns on is notsatisfied, the homing has not yet been completed when an alarm has been given.In this case, eliminate the cause of the alarm, clear the alarm and execute the homing. Then, thehoming can be completed.• When the homing startsThe homing is not completed even if the homing starts. When the homing finishes normally, the homingis completed. If the homing is interrupted due to input of an operation stop (emergency stop, temporarystop or deceleration-and-stop), servo off, trip, etc., the homing is not completed. Retry the homing fromthe beginning.• When the normal auto-tuning or frequency characteristics measurement is executedEven if the normal auto-tuning is executed by a console or “PANATERM ® ” or the frequency characteris-tics measurement is executed by “PANATERM ® ”, the homing is not completed. Execute the homingagain. Otherwise, for the setting A) above, the homing can be completed by turning the power supply onagain.Homing Mode ListThe table below lists the available homing modes selected by combining 16.Pr36 (Homing type) and controlmode (SV.Pr02) with each other. For the details of each mode, refer to the relevant page (page 116 to page123).CautionIn the table above, “ ” means “Available” and “ ” means “Unavailable (error code No. 68 (homing errorprotection) is shown)”.16-bit positioning parameter No. 36(Homing type setting) 0 1 2 3 4 5 6 7Operation Home sensor + Z phase (based on the front end) Home sensor (based on the front end) Home sensor + Z phase (based on the rear end) Limit sensor + Z phase Limit sensor Z phase homing Bumping homing Data setPositioning controlFull-closed controlRelevantpage P.116 P.117 P.118 P.120 P.121 P.122 P.122 P.123
