IAI America RCM-GW-DV - Manual (Page 97)

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(2) Home return operation
Since the controller unit adopts an incremental position detector (encoder), the mechanical
coordinate values will be lost once the power is cut off.
For this reason, home return must be performed after the power is turned on in order to establish the
mechanical coordinate values.
To perform home return operation, input the home return command (HOME) signal.
If a simple absolute R unit is connected to the controller unit to make the actuator an absolute axis,
home return operation is no longer required.
Operation timings
PLC process 1 : When the start button is pressed, the home return command (HOME) signal is
turned “1” (ON).
Operation : [1] The actuator starts moving toward the mechanical end on the home side.
[2] The actuator contacts the mechanical end, and then reverses its direction and
pauses at the home position.
The home return complete (HEND) signal turns “1” (ON).
PLC process 2 : The home return command (HOME) signal is turned “0” (OFF) after confirmation
that the HEND signal has turned “1” (ON).
PLC process 3 : The actuator starts continuous operation.
Caution
Take note of the following points regarding home return:
[1] Confirm that no obstacle is present in the home return direction.
[2] If any obstacle is found in the home return direction, temporarily move the actuator in the direction
opposite home and remove the obstacle.
[3] Turning the HOME signal “1” (ON) causes the PEND signal to turn “0” (OFF) and MOVE signal to
turn “1” (ON).
Turn the HOME signal “0” (OFF) again after confirming that the HEND signal has turned “1” (ON)
while the HOME signal is still “1” (ON).
[1] [2]
Home return command
Home return complete
Position complete
Moving
1 msec or less
Actuator movement
Power on position
Mechanical end
Home position