Manual Operation
(Home Return)
11-12
11.3 Sample Programs
11.3.1 Sample Program (Home Return)
The operation for starting the home return operation is mainly divided into five steps on a user
program.
• Read flags stored in the unit memories (input control area).
• Control the Servo ON/OFF.
• Check the condition if the control of each axis can be started.
• Confirm the condition and start the home return.
• Write operation results in the unit memories (output control area).
(Note): The sample program on the next page is for activating the home return of the axis number 1 for the FP7 MC
Unit installed in the slot number 1. To simplify the explanation, the part related to the home return operation is
extracted.
Contents of sample program
Mark Description
①
Read flags indicating states from the input control area of the unit memories (UM) to arbitrary areas
(WR).
Read flags such as connection confirmation flag, servo lock flag, busy flag, and error flag.
②
Servo ON/OFF control program
③
Check required conditions and replace it with the start enabled flag (R110) in the program.
④
Home return start program.
⑤
Write flags to the output control area of the unit memoires (UM) from arbitrary area (WR) where the
start conditions are written.
Home return start
• Parameters related to the home return operation are set in the axis
parameter of CMI. Refer to “5.2.4 Axis Parameters (Operation)”.
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