Manual
Operation
(Home Return)
11-12
11.3 Sample Programs
11.3.1 Sample Program (Home Return)
The operation for starting the home return operation is mainly divided into five steps on a user
program.
•
Read flags stored in the unit memories (input control area).
•
Control the Servo ON/OFF.
•
Check the condition if the control of each axis can be started.
•
Confirm the condition and start the home return.
•
Write operation results in the unit memories (output control area).
(Note): The sample program on the next page is for activating the home return of the axis number 1 for the FP7 MC
Unit installed in the slot number 1. To simplify the explanation, the part related to the home return operation is
extracted.
Contents of sample program
Mark
Description
①
Read flags indicating states from the input control area of the unit memories (UM) to arbitrary areas
(WR).
Read flags such as connection confirmation flag, servo lock flag, busy flag, and error flag.
②
Servo ON/OFF control program
③
Check required conditions and replace it with the start enabled flag (R110) in the program.
④
Home return start program.
⑤
Write flags to the output control area of the unit memoires (UM) from arbitrary area (WR) where the
start conditions are written.
Home return start
KEY POINTS
•
Parameters related to the home return operation are set in the axis
parameter of CMI. Refer to “5.2.4 Axis Parameters (Operation)”.
Summary of Contents for AFP7MC16EC
Page 1: ......
Page 19: ...1 Unit Functions and Restrictions ...
Page 28: ...Unit Functions and Restrictions 1 10 ...
Page 29: ...2 Names and Functions of Parts ...
Page 33: ...3 Installation and Wiring ...
Page 47: ...4 Basic Procedure ...
Page 75: ...5 Settings of FP7 MC Unit Using CMI Tool ...
Page 97: ...6 Data Transfer to MC Unit and Test Operation ...
Page 122: ...Data Transfer to MC Unit and Test Operation 6 26 ...
Page 123: ...7 Creation of User Programs ...
Page 131: ...8 Automatic Operation Position Control ...
Page 143: ...8 2 Interpolation Control 8 13 ...
Page 193: ...9 Automatic Operation Synchronous Control ...
Page 251: ...10 Manual Operation JOG Operation ...
Page 257: ...10 2 Changing Speed During JOG Operation 10 7 MEMO ...
Page 263: ...11 Manual Operation Home Return ...
Page 277: ...12 Stop Functions ...
Page 286: ...Stop Functions 12 10 ...
Page 287: ...13 Supplementary Functions ...
Page 336: ...Supplementary Functions 13 50 ...
Page 337: ...14 CMTimeChart Monitor ...
Page 338: ...CMTimeChart Monitor 14 2 14 1 Overview of Function ...
Page 365: ...15 Troubleshooting ...
Page 396: ...Troubleshooting 15 32 ...
Page 397: ...16 Specifications ...
Page 500: ...Specifications 16 104 16 13Dimensions AFP7MC16EC AFP7MC32EC AFP7MC64EC 90 28 80 4 Unit mm ...
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