IAI RA Series, Instruction Manual

Page: 88 / 186

4. Operation Program
80
z
XHOM (extension motion control axis home return)
Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration
Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XHOM Prohibited Prohibited PE
[Function] Perform home return on extension motion control axis specified in the XAXS or XA16
command. The servo is automatically turned ON for the axis to which home return is
performed.
Caution :
(1) Set axis patterns using the XAXS or XA16 command before executing this command. If the
command has not been executed, error No. 4B3 “No extension motion control board axe pattern
setting error” occurs.
(2) If the home-return operation of an extension motion control axis is paused or stopped during its
operation, the axis cancels the home-return operation and turns the servo off. To resume the
operation, issue the home-return command again.
(3) When the applicable axis is the slave driver control and absolute encoder type, execute this
command and the absolute reset should be conducted by the slave controller. If it is required to
have only a drive to the home position (not required to have home position confirmation operation),
do not attempt to execute this command, but execute XMVP Command.
[Example] XAXS 0 1100 Set axis patterns for axes 2 and 3.
XHOM Perform home return on the specified axes.
z
XMVP (extension motion control board axis position specification move)
Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XMVP Position No. Prohibited PE
[Function] Move extension motion control axis specified in the XAXS or XA16 command to position
No. specified in operand 1 via PTP move.
Caution :
Set axis patterns using the XAXS or XA16 command before executing this command. If the command
has not been executed, error No. 4B3 “No extension motion control axes pattern setting error” occurs.
[Example 1] XA16 0 11 Set axis patterns for axes 16 and 17.
LET 1 10 Assign 10 to variable 1.
XMVP *1 Move specified axis to position No. 10
(The contents of Variable 1).
ME0364-2B