IAI America ASEL - Manual (Page 184)

Part 2 Programs
Chapter 3 Explanation of Commands
162
Part 2 Programs
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 11 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) 3 (decimal)
LET 1 3 Assign 3 to variable 1.
HOME *1
Warning : Turning the servo ON near the mechanical end may disturb the magnetic pole phase
detection, and may cause the magnetic pole unconfirmed error or the magnetic pole
detection error.
Put the slider or rod away from the mechanical end when turning the servo ON.