IAI America RCP2-CF - Manual (Page 101)

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7.2.2 Absolute Specification
Home return must be executed when the controller is started for the first time. Even after the home has been
established, home return will become necessary if the current position is lost due to low battery voltage, etc.
If the home return completion (HEND) is OFF when the power is input, check the cause and then reset the alarm
to turn the alarm output (*ALM) ON.
Next, be sure to execute home return and confirm that the home return completion (HEND) will turn ON.
 When the PIO pattern is “0: [Conventional]”
Select and input a desired command position number in which a target position is registered, and then input
the start signal.
Execute home return. The actuator will stop at the home position, and the home return completion (HEND)
and position complete (PEND) will turn ON.
The completed position output (PM1 to PM8) will remain OFF.
If there is an unused position data number, we recommend that you set a dedicated position number for
home return by setting “0” as the target position.
 When the PIO pattern is “5: [4 points]”
Input the movement command to each position (ST0 to ST3).
Home return is executed first and the actuator stops at the home position. Then, the home return completion
signal (HEND) and position complete signal (PEND) will turn ON.
The complete signal for each corresponding position (PE0 to PE3) remains OFF.
 When the PIO pattern is other than “0: [Conventional]” or “5: [4 Points]”
Input the home return signal (HOME).
When home return is complete, the home return completion (HEND) and position complete (PEND) will turn
ON.
(Note) As in the conventional pattern, you can also execute home return by selecting and inputting a
desired command position number in which a target position is registered, and then inputting the
start signal.
However, use of the home return signal (HOME) is simpler and therefore recommended.
(Note)
Difference in alarm reset method
 If the PIO pattern is “0: [Conventional],”actuate an emergency stop or cut off the motor drive power first, and
then input the start signal (CSTR) for at least 6 msec.
Thereafter, cancel the emergency stop or connect the motor drive power.
 If the PIO pattern is other than “0: [Conventional],” input the reset signal (RES) for at least 6 msec.
Reference: Processing on the PLC side
It is recommended that an interlock be provided in such a way that the PLC will detect a
loss of absolute data if the home return completion (HEND) remains OFF when the
power is input, and thereafter refuse all commands other than a command for home
return.
Note: Abnormal noise may be heard upon completion of home return, but this is due to the
excitation operation and does not indicate a problem.