IAI X-SEL

214
INTELLIGENT ACTUATOR
Part 4 Commands
 HOME (Return to home)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional HOME
Axis
pattern
Prohibited PE
[Function] Perform home return of the axes specified by the axis pattern in operand 1.
The servo of each home-return axis will turn ON automatically.
The output will turn OFF at the start of home return, and turn ON when the home return is
completed.
(Note) Following a pause of home return, the operation will resume from the beginning of the home-
return sequence.
Home-return operation of an absolute-encoder axis is a movement to a rotation data reset
position, and may not be a movement to the preset home coordinates (including 0). Use a
MOVP command instead of a HOME command, if you wish to perform home return for the
purpose of turning ON output 304 when “I/O parameter No. 50, Output function selection 304”
is set to “1” (Output if all valid axes are at the home (= 0)) or “3” (Output if all valid axes are at
the preset home coordinates).
If the operation is stopped or cancelled while a HOME command is being executed for an
absolute-encoder axis in a mode other than the absolute reset mode provided by the PC
software or teaching pendant, an “actual-position soft limit error” may generate depending on
the position. It is not recommended to perform home return other than for the purpose of
adjusting an absolute-encoder axis.
[Example 1] HOME 1100 Axes 3 and 4 return to the home.
[Example 2] The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
1100 (binary)  12 (decimal)
LET 1 12 Assign 12 to variable 1.
HOME *1