IAI America PCON-CFA - Manual (Page 233)

5. Flow and Commands of Basic MECHA
TROLINK Communication
227
(6) Home return (HOME) PLC output signal
Home return complete (HEND) PLC input signal
Home return in progress (GHMS) PLC input signal
When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and
home return operation will be performed automatically. The GHMS signal turns ON while the home return is in
progress.
When the home return is completed, the HEND signal turns ON while the GHMS signal turns OFF.
Turn the HOME signal OFF when the HEND signal turns ON. Once the HEND signal turns ON, it will not turn OFF
until the power is turned OFF or the HOME signal is input again.
Even after home return has been completed once, another home return can be performed by turning the HOME
signal ON.
Caution: In the remote I/O mode 1 to 3 or position/simple direct mode 1, 2 issuing a positioning command
to a given position immediately after the power has been turned on, before home return is
performed, will cause the actuator to automatically return home and then perform positioning,
provided that this is the first positioning command after the power on.
In the half direct mode 1 to 3, issuing a positioning command to a given position immediately after
the power has been turned on, before home return is performed, will generate an alarm (error
code 083: ALARM HOME ABS (absolute position move command when home return is not yet
completed) (operation-cancellation alarm)). Exercise caution.
Actuator operation
Mechanical end Stopped at the home position