User`s manual

66
CHAPTER2 PROFIBUS Unit
2-12-3 Remote command details (robot operation)
(1) Return-to-origin execution .................................................... Code 0101
The return-to-origin operation of all axes or specified axis is executed, or the re-
turn-to-origin status is judged. If the search system is selected for the origin-point
detection system, the return-to-origin operation is executed, and if the mark sys-
tem is selected, the return-to-origin status is judged.
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
Axis
Command response
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
(Details)
Axis: 0 means all axes, 1 means X axis, and 2 means Y axis. On dual-
axis controllers, all axes are also specified when 3 is set.
On single-axis controllers, 0 and 1 alone can be specified.
(Example)
Transmission example 1:
Return-to-origin is executed to all axes.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0000
0000 0000
0000 0101
Response example 1:
It is normally ended.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 0200
Response example 2:
Origin incomplete occurs since the return-to-origin is not com-
pleted in the axis of the mark system.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 4020
MEMO
MEMO
If any axis of the mark system and axis of the search system are mixed, it is necessary
to previously complete the return-to-origin of the axis of the mark system in order to
execute the return-to-origin of the axis of the search system. The return-to-origin of
the mark system is executed with HPB.
MEMO
MEMO
If the return-to-origin is once executed after the robot cable is connected to the abso-
lute battery, it is unnecessary to execute it again even if the power supply is turned
off. (As an exceptional example, it is necessary to execute the return-to-origin again
since the origin is incomplete if the absolute back-up function is made to be invalid or
if any parameter concerned with the origin is changed.)