42
Home return (HOME)
The controller will start home return operation upon detection of an OFF → ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as
many times as required.
(Note) The HOME signal is not an absolute requirement, because even if home return has not yet been
performed after the power was input, the controller will automatically perform home return
operation before positioning to the target position.
Setting “0.00 mm” as the position data will allow for movement to the home. Still, the HOME
signal is convenient when there is no space in the position-data table or when the controller is
used in the teaching mode.
Operation mode (MODE)
This signal is enabled when user parameter No. 25 is set to “4: [Teaching].”
Turning the MODE signal ON will switch the normal operation mode to the teaching mode.
(Note 1) For the mode switching to occur, all of the *STP (JOG+), CSTR (PWRT) and RES (JOG-) input
signals must be OFF.
Once the mode switches, the MODES output signal will turn ON.
Configure the system in such a way that the PLC will accept a PWRT, JOG+ or JOG- operation
command after confirming the ON status of the MODES output signal.
Turn the MODE signal OFF to return to the normal operation mode.
Configure the system in such a way that the PLC will accept a command in the normal operation
mode after confirming the OFF status of the MODES output signal.
(Note 2) The normal operation mode cannot be restored unless all of the PWRT, JOG+ and JOG- input
signals are OFF.
Current-position write (PWRT)
This signal is enabled when the aforementioned MODES output signal is ON.
If the PWRT signal has remained ON for 20 msec or longer, the controller will read the position number
specified by the currently detected binary code consisting of PC1 to PC8, and write the current position
data as the target position in the corresponding position data.
If data other than the target position (speed, acceleration/deceleration, positioning band, etc.) are yet to be
defined, the default parameter settings will be written.
When the writing completes successfully, the WEND output signal will turn ON.
Configure the system in such a way that the PLC will turn OFF the PWRT signal when WEND turns ON.
The controller will turn OFF WEND once the PWRT signal turns OFF.
(Note) An alarm will generate if a write command is issued when home return has not been performed
yet or while the actuator is moving.
• Condition for PWRT to be enabled when the servo is ON:
The PWRT signal is enabled when both the JOG+ and JOG- input signals are OFF, HEND
output signal is ON and MOVE output signal is OFF.
• Condition for PWRT to be enabled when the servo is OFF:
The PWRT signal is enabled when the HEND output signal is ON, but whether the actuator is
being moved by hand or stopped cannot be determined from HEND alone. Input the PWRT
signal when the operation is stopped.
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