Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 186)

167

Part 4 Commands

INTELLIGENT ACTUATOR

 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.

Home-return operation of an absolute-encoder axis is a movement to a rotation data reset

position, and may not be a movement to the preset home coordinates (including 0). Use a

MOVP command instead of a HOME command, if you wish to perform home return for the

purpose of turning ON output 304 when “I/O parameter No. 50, Output function selection 304”

is set to “1” (Output if all valid axes are at the home (= 0)) or “3” (Output if all valid axes are at

the preset home coordinates).

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 1100 Axes 3 and 4 return to the home.

[Example 2] The axis pattern can be indirectly specified using a variable. When [Example 1] is

indirectly specified using a variable.

1100 (binary)  12 (decimal)

LET 1 12 Assign 12 to variable 1.

HOME *1

1 2 ... 181 182 183 184 185 186 187 188 189 190 191 ... 435 436

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Iai-america XSEL-KET Uživatelský manuál Strana 186