IAI America XSEL-QX - Manual (Page 252)

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Part 4 Commands
z HOME (Dedicated linear movement axis command: 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 1) This command is used exclusively for linear movement axes. If it is specified for a SCARA
axis, an “Error No. B80, Specification-prohibited axis error” or “Error No. 421, SCARA/linear
movement axis simultaneous specification error” will generate.
(Note 2) 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 linear movement axes are
at the home (= 0)) or “3” (output if all valid linear movement 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 therefore not recommended to perform home return other than for the
purpose of adjusting an absolute encoder axis.
[Example 1] HOME 110000 Return axes 5 and 6 to the home.
[Example 2] An axis pattern can be indirectly specified using a variable. An example of specifying
the operation in [Example 1] indirectly using a variable is shown below.
110000 (binary)
o 48 (decimal)
LET 1 48 Assign 12 to variable 1.
HOME *1
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.