Manual Operation (Home Return)11-1011.3 Sample Programs11.3.1 Sample Program (Home Return)The operation for starting the JOG operation is mainly divided into five steps on a userprogram.• 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 MCUnit installed in the slot number 1. To simplify the explanation, the part related to the home return operation isextracted. Contents of sample programMark Description①Read 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 confirmation flag, busy flag, and errorflag.② Servo ON/OFF control program③ Check required conditions and replace it with the start enabled flag (R110) in the program.④ Home return start program.⑤Write flags to the output control area of the unit memoires (UM) from arbitrary area (WR) where thestart conditions are written.Home return startKEY POINTS• Parameters related to the home return operation are set in the axisparameter of CMI. Refer to “5.2.4 Axis Parameters (Operation)”.
