Mitsubishi Electric R16MTCPU Programming Manual page 341

■No.140: Home position return
Home position return request
P0
[G140]
//(X3*!1 axis home position return
//completion *1 axis in-position signal*!1
//axis start accept)?
X3*!M2410*M2402*!M2001
[K140 : Real]
1 ZERO
Axis 1
P0
[G141]
//(X4*!2 axes home position return
//completion *2 axes in-position signal*!2
//axis start accept)?
X4*!M2430*M2422*!M2002
[K141 : Real]
1 ZERO
Axis 2
When X3 is ON, the home position return request of 1 axis is executed.
When X4 is ON, the home position return request of 2 axes is executed.
At this time in-position signal ON and start accept OFF confirmed, and home position return
request program is started.
*: This program is the structure which does not have WAIT that it waits for the completion of
the home position return in the next of the motion control step, because it possible a thing
during "K140" practice and "K141" are started.
(You must take the initial start of each axis to interlock condition to prevent the double
start of K140 and K141.)
[G142]
//Did you finish home position return
//request mode?
!(X2*!X1)
END
APPENDICES APPENDIX
Appendix 2 Sample Program
A
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