IAI America SSEL - Manual (Page 370)

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Part 3 Positioner Mode
5.2 Home Return
In the teaching mode, no dedicated home-return input is available.
Home return will be performed when the start signal is input after specifying a desired position in a
condition where home return is not yet completed.
Timings associated with home-return operation are illustrated below.
Timing Chart of Home-return Operation (Teaching Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal is ON, alarm output signal is
OFF, and home-return complete output signal is OFF.
[1] Turn ON the servo ON input signal.
[2] Confirm that the servo-ON status output signal is ON.
[3] Turn ON the start input signal.
[4] Confirm that the positioning complete output signal is OFF.
[5] Turn OFF the start input signal.
[6] Confirm that the home-return complete output signal is ON. Home return is now completed.
*Pause input is a contact-B input signal (always ON), so keep this signal ON while home return is in
progress.
To operate the actuator using the start input, the servo ON input signal must be ON. If the servo ON input
signal is OFF, this operation command will not be accepted. Note, however, that only the command will be
ignored and no error will generate.
Input
Output
Start
Servo ON
*Pause
Alarm
Ready
Home return in progress
Positioning complete
Home return complete
Servo ON status