IAI America XSEL-KE - Manual (Page 306)

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Appendix
9. Return-to-Home Completion Output
Description
A signal can be output to confirm completion of return-to-home operation (incremental specification).
With the X-SEL controllers, you can output a return-to-home complete signal by setting an applicable I/O
parameter. The following explains the method to output a return-to-home complete signal in a program
using a general-purpose output.
Once turned ON, general-purpose outputs will remain ON even after the program ends or other program is
started. (General-purpose outputs will turn OFF under certain conditions such as actuation of an
emergency stop. You can also retain general-purpose outputs using I/O parameters (I/O parameter Nos.
70, 71)).
Example of Use
a. Output a return-to-home complete signal.
Reference
,I,2SDUDPHWHU1RLVVHWWR³´RXWSXWSRUW1RFDQEHXVHGWRRXWSXWDUHWXUQWRKRPHFRPSOHWH
signal (dedicated output).
Perform return-to-origin operation.
A general-purpose signal is output (optional).
Perform return-to-origin operation if output
LV2)) 
A return-to-origin complete signal is output.
The processing is the same as that
effected by the above two steps.
b. Use a return-to-origin complete signal to prevent another return-to-origin operation
if it has been completed once.
c. Use the output field instead of a BTON command.