Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual page 256

Examples and tips
WA(1)
WAIT IDLE
ENDIF
Origin search against limit switches
This origin search function is performed by searching for an
external sensor using limit switches only. The example for this
homing procedure is shown in the figure.
The possible scenarios for origin search against limit switches,
depending on the position of the moving part on power on, are
shown in the figure.
The program example that does this origin search sequence is
given below.
'Origin and left limit switch: IN0
'Right limit switch: IN1
BASE(0)
DATUM_IN=0
SERVO=ON
WDOG=ON
DATUM(4)
WA(1)
WAIT IDLE
PROGRAMMING MANUAL
fig. 28
moving part
min. limit switch ON OFF OFF ON
fig. 29
REVERSE FORWARD
max. limit switch
min limit switch
max limit switch
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