122Homing OperationZ Phase HomingExample: Z phase count = 3 at an operation in a positive directionCount the Z phase specified times by 16.Pr3B (homingZ phase count setting) while moving in a direction ofhoming according to 16.Pr31 (Homing speed (low)) anddefine that point as a home position.Direction of homingL-SPDDirection of homingH-SPDStopper etc.Caution1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection(error code No. 68) and stops according to an operation at alarm occurrence.• 16.Pr31 (Homing speed (low))• 16.Pr33 (Homing acceleration setting)• 16.Pr34 (Homing deceleration setting)2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions belowduring homing, an operation trips due to homing error protection (error code No. 68) and stops accordingto an operation at alarm occurrence.• A limit sensor in a traveling direction has been detected during detection of specified count of Z phaseHow to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travelinhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,stop in the deceleration time “0”.)3) If a start position of homing is near the Z phase output position, the number of Z phase counts may vary.Bumping HomingExample: An operation in a positive directionDescription Specify the low speed for the homing operation (0 to 6000 r/min). Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the homeoffset operation, refer to page 124. Specify the acceleration for the homing operation in a range between 0 to 3000 r/min. Specify the deceleration for the homing operation in a range between 3000 to 0 r/min. Specify an operating direction for the homing. (0: positive direction, 1: negative direction) Specify a type of homing. ([5]: Z phase homing) Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offsetoperation, refer to page 124. Specify the Z phase that an operation stops. ([3] (the 3rd Z phase) in this example) Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”. 16.Pr** 32.Pr**31 32 33 34 35 36 37 3B 01Parameter number• Parameters related to this operationThe motor moves in a direction of homing accord-ing to 16.Pr30 (Homing speed (high)). During thehoming, the motor output torque limit becomes16.Pr3A (Torque limit for bumping homing). Whenthe state the motor output torque is limited by thehit & stop torque limit has been kept for a periodspecified by 16.Pr39 (Bumping detection time), de-fine that point as a home position
