Panasonic FP Series Programming Manual page 1087

Pulse output instructions
F177_PulseOutput_
Home
Description
This instruction performs a home return according to the parameters in the specified DUT. Pulses
are output from the specified channel when the control flag for this channel is FALSE and the
execution condition is TRUE.
See also:
 PulseOutput_Home_FB (see page 1176)
 PulseControl_NearHome (see page 1209)
After a drive system has been switched on, there is a difference between the internal position value
(elapsed value) and the mechanical position of the axis; this difference cannot be predetermined.
The internal value must be synchronized with the actual position value of the axis. This is done by
means of a home return, during which a position value is registered at a known reference point
(home).
During execution of a home return instruction, pulses are continuously output until the home input
is enabled. The I/O allocation is determined by the channel used.
To decelerate movement when near the home position, designate a near home input and set bit 4
of the special data register storing the pulse output control code (sys_wHscOrPulseControlCode) to
TRUE and back to FALSE again.
The deviation counter clear output can be set to TRUE when home return has been completed.
Select one of two different operation modes:
 Type 0: The home input is effective regardless of whether or not there is a near
home input, whether deceleration is taking place, or whether deceleration has
been completed.
Without near home input:
f
0Hz
Initial speed
1
Target speed
2
Near home input: TRUE
3
 Type 1: The home input is effective only after deceleration (started by near home
input) has been completed.
1086
Home Return
With near home input:
f
2
1
5
0Hz
t
Home input: TRUE
4
Creep speed
5
Home input is effective at any time.
6
3 4
t
6