IAI RoboNet Operation Manual page 96

(6) Home Return Command (HOME) PLC Output Signal
Home Return Complete (HEND) PLC Input Signal
Home return operation will start at the "0" (OFF)
When home return is complete, the HEND (home return complete) signal will turn "1" (ON).
Turn the HOME signal "0" (OFF) after the HEND signal has turned "1" (ON). Once it turns "1," the HEND signal will not
turn "0" (OFF) until the power is turned OFF or the HOME signal is input again. After home return has been completed
once, home return can be performed as many times as desired using the HOME signal.
An absolute reset must be performed for each axis (controller unit) connected to a simple absolute R unit, when the
system is started.
To perform an absolute reset from the host PLC, output the home return signal (HOME).
For details, refer to the section on starting up the simple absolute R unit in Part 2, "Startup."
Actuator operation
Caution
1. If a positioning command is issued in the positioner mode immediately after the power has been turned ON, without
performing home return, home return will be performed automatically, but only if no home return has been performed
after the power ON, and then the positioning will be executed.
2. Take note that in any other mode, an alarm "Error 83: ALARM HOME ABS (absolute position move command before
home return)" will generate.
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"1" (ON) leading edge of the HOME signal.
Mechanical end
Stops at the home position
Part 1 Specification