IAI America RCS-E - Manual (Page 53)

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3.2.7 Home Return
With the standard specification, home return must be performed after the power has been input or an encoder
open or CPU error alarm has been reset. Selecting a position number and then initiating a start will cause the
controller to automatically perform home return before commencing the subsequent operation. Once home return
is complete, the home return completion output will turn ON (standard specification).
Home return alone cannot be performed using PIO. To move the actuator to the home position in a normal
condition, set a position number for which “0” is set in the position-data table under “Position,” and then issue a
movement command to that position.
With the absolute specification, home return is not necessary after the power has been input, as long as an
absolute reset was performed once.
3.3 Timing Chart
Acc/dec Description
Minimum Maximum
T1 Start ON minimum duration 4 msec

T2 Start OFF minimum duration 4 msec

T3 Start ON
 Command position hold time
6 msec 
T4 Start ON
 Position complete OFF delay 
7 msec
T5 Position complete OFF
 Moving ON delay  1 msec
T6 Pause OFF
 Moving OFF delay 
*1
T7 Pause ON
 Moving ON delay 
6 msec
T8 Position complete ON
 Moving OFF delay  2 msec
T9 Completed position OFF
 Position complete OFF delay
0.1 msec 1 msec
T10 Position complete ON
 Completed position output delay
0.1 msec 1 msec
*1: The maximum value will vary depending on the acceleration/deceleration.
*2: After the position complete signal turned ON, wait for at least the sequencer’s scan time before checking the
completed position.
Start
Command position
Position complete
Completed position
Moving
*Pause
*2