IAI America REXT - Manual (Page 119)

Part 1 Specification
Chapter 3 Gateway R unit
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Part 1 Specification
(2) Home Return Operation
This controller unit uses an incremental position detector (encoder) and therefore its mechanical coordinates will be lost
once the power is cut off.
After the power is turned ON, therefore, home return must be performed to establish mechanical coordinates.
To perform home return operation, input the home return command signal (HOME).
Home return operation is not required if a simple absolute R unit is connected to the controller unit to make the controller
an absolute axis.
Operation timings
PLC processing 1: As the start button is pressed, the home return command signal (HOME) turns "1" (ON).
Operation:
[1] The actuator starts moving toward the mechanical end on the home side.
[2] After contacting the mechanical end, the actuator reverses its direction and moves to the home
position, upon reaching, which the actuator stops.
o The home return complete signal (HEND) turns "1" (ON).
PLC processing 2: Turn the home return command (HOME) signal “0” (OFF) after confirming that the HEND signal has
turned “1” (ON).
PLC processing 3: The actuator starts continuous operation.
Caution
Take heed of the following points when performing home return:
[1] Confirm that no obstacles are present in the direction of home return.
[2] If any obstacle is present in the direction of home return, move the actuator in the direction opposite home and remove
the obstacle.
[3] When the HOME signal is turned “1” (ON), the PEND signal turns “0” (OFF) and MOVE signal turns “1” (ON).
Return the HOME signal to “0” (OFF) after confirming that the HEND signal has turned “1” (ON) while the HOME signal
is still “1” (ON).
[1] [2]
Home return command
(HOME)
Home return complete
(HEND)
Position complete
(PEND)
Moving (MOVE)
1 msec or less
Actuator movement
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