IAI America SSEL User Manual

Page 196

174

Part 2 Programs

z 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 Optional

HOME

Axis

pattern

Prohibited PE

[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)

o 3 (decimal)

LET

Assign 3 to variable 1.

HOME

Caution:

Take note that if you are using the linear servo actuator LSAS-N10/N15 of quasi-absolute
type, after completing a home return operation following power on the actuator moves in a
range of approx. 16 mm from the stopped position to confirm the current position.