Instruction manual

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6 POSITIONING 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 Multiple CPU
system 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 of Motion CPU.
(a) Data devices for indirect setting
There are data registers (D), link registers (W), Motion registers (#) and
Multiple CPU area device (U
\G) as data devices for indirect setting. (Word
devices except the above 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
U \G 10000 to (10000+p-1)
(Note-1)
Note-1: "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for the each CPU
.