IAI America PCON-CA - Manual (Page 165)

Chapter 6
Absolute Reset and
Absolute Battery
POWER CON
PCON-CA/CFA
157
[2] Absolute reset using PIO
1) Turn the reset signal RES from OFF to ON. (Processed with ON edge.)
2) Check that the alarm signal *ALM is ON (controller’s alarm (Note 1) is cancelled).
(Note 1) If the cause of the alarm is not removed, an alarm will be present again (*ALM
signal OFF). Check the condition including other alarm causes.
3) Turn ON the pause signal *STP.
4) Turn the servo-on signal SON ON.
5) Wait until the servo-on status SV turns ON.
6) Turn the home return signal HOME (ST0 signal in case of PIO pattern 5) ON (with ON
edge). The home return operation is started.
7) When the homing completion signal HEND is turned ON (completion of home return),
absolute reset is completed.