6POSITIONING CONTROL

(5)Operation setting for incompletion of home position return

(a)Operation in selecting "0: Execute servo program"

1)Servo program can be executed even if the home position return request signal (M2409+20n) is ON.

(b)Operation in selecting "1: Not execute servo program"

1)Servo program cannot be executed if the home position return request signal (M2409+20n) is ON. However, the servo program can be executed even if the home position return request signal (M2409+20n) is ON in the case of only servo program of home position return instruction (ZERO).

2)At the time of servo program start, when "1: Not execute servo program" is selected in the operation setting for incompletion of home position return and the axis which the home position return request signal (M2409+20n) is ON exists also with one axis, a minor error [121] occurs and the servo program does not start.

3)JOG operation and manual pulse generator operation can be executed regardless of the home position return request signal (M2409+20n) ON/OFF.

4)Same operation is executed regardless of absolute position system or not. When "1: Not execute servo program" is selected in the case of not absolute position system, the home position return request signal (M2409+20n) turns ON at power supply ON or reset of Motion CPU and power supply ON of servo amplifier. Therefore, it must be executed home position return before a servo program start.

5)Same operation is executed in also TEST mode.

6)This setting is valid in the real mode only. Servo program can be executed for a virtual axis connected to the output axis which the home position return request signal (M2409+20n) is ON.

(6)Indirect setting of home position return data

A part of home position return data can be executed the indirect setting by the word devices (D, W, #) of Motion CPU.

(a)Data devices for indirect setting

There are data registers (D), link registers (W) and Motion registers (#) as data devices for indirect setting. (Word devices except data registers, link registers and Motion registers cannot be used.) Usable devices are shown below. (Set the number of words for 2 words as even number.)

Word devices

Usable devices

D

800 to 8191

W

0 to 1FFF

#

0 to 7999

6 - 196