IAI America ASEL User Manual

Page 184

Part 2 Programs

Chapter 3 Explanation of Commands

162

Part 2 Programs

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

HOME

Axis

pattern

Prohibited

[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.

The home-return operation of an absolute-encoder axis is a movement to the rotation data

reset position and may not necessarily be a movement to the preset home coordinate

(including 0). If an output function specification value of “12” (All-valid-axed home (=0) output)

or “14” (All-valid-axes preset home coordinate output) is stored in the I/O parameter “Output

function setting nnn,” use a MOVP command, not a HOME command, when moving each

absolute-encoder axis for the purpose of turning ON the applicable output.

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

Axes 1 and 2 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:

11 (binary)

3 (decimal)

LET

Assign 3 to variable 1.

HOME

Warning : Turning the servo ON near the mechanical end may disturb the magnetic pole phase

detection, and may cause the magnetic pole unconfirmed error or the magnetic pole

detection error.

Put the slider or rod away from the mechanical end when turning the servo ON.