Homing
/homing (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Start the homing movement. Move towards origin direction, stop when the HOME switch is activated. Then the motor reverses the direction and move slowly, halts when the HOME sensor is not active anymore, then reset location to zero at the current point.
This is equivalent to the following actions of executing /goUntil
command, and after the motor stops on HOME sensor activation, execute /releaseSW
command.
The homingDirection
and the homingSpeed
can be set by /setHomingDirection
and /setHomingSpeed
commands, as well as configuring from the configTool.
Time-out can be set for each of the /goUntil
and /releaseSw
commands. The controller halts the motor movement if the sensor state have not changed during this time frame. The time-out values can be set from /setGoUntilTimeout
and from setReleaseSwTimeout
command.
Depending on the state change on the homing movement, following response will be sent.
Response
/homingStatus (int)motorID (int)homingStatus
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
homingStatus | 0-4 | Homing Status |
Homing Status
homingStatus | Homing Status | Description |
---|---|---|
0 | HOMING_UNDEFINED | Not yet executing homing movement |
1 | HOMING_GOUNTIL | Executing /goUntil |
2 | HOMING_RELEASESW | Executing /releaseSw |
3 | HOMIMG_COMPLETED | Homing done |
4 | HOMING_TIMEOUT | The movement did not complete during specified time frame. |
/getHomingStatus (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Returns current state of homing movement.
Response
Same as /homing
command.
/setHomingDirection (int)motorID (bool)direction
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
direction | 0-1 | 1:Forward, 0:Reverse |
Executable timing
Always
Description
Sets the homingDirection
for the /homing
command. It can be also configured from the configTool.
Description
0 (Reverse)
/getHomingDirection (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Returns homingDirection
parameter.
Response
/homingDirection (int)motorID (bool)homingDirection
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8 | Motor ID |
homingDirection | 0-1 | 1:Forward, 0:Reverse |
/setHomingSpeed (int)motorID (float)speed
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
speed | 0.0-15625.0[step/s] | homingSpeed |
Executable timing
Always
Description
Sets the homingSpeed
when executing the command /homing
. It can be configured from the configTool.
Initial value
100.0[step/s]
/getHomingSpeed (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description.
Returns homingSpeed
parameter.
Response
/homingSpeed (int)motorID (float)homingSpeed
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8 | Motor ID |
homingSpeed | 0.0-15625.0[step/s] | Homing Speed |
/goUntil (int)motorID (bool)ACT (float)speed
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
ACT | 0-1 | Refer to the table below |
speed | -15625 - 15625 [step/s] |
ACT | Description |
---|---|
0 | Reset the ABS_POS register |
1 | Copy the value of the ASB_POS register to the MARK register |
Executable timing
Always
Description
Move the motor at specified speed and direction. When the HOME switch turns on (the HOME switch terminal is closed), process ABS_POS register according to the ACT value.
The motor will softStop afterwards, but if the SW_MODE is set to 0 in the /setSwMode
command, it will be a hardStop instead. This command will keep the motor to the BUSY state until it stops.
Response
None
/setGoUntilTimeout (int)motorID (int)timeOut
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
timeOut | 0-4294967295[ms] | Time-out duration |
Executable timing
Always
Description
Sets the time-out duration when executing /goUntil
command. If the sensor did not detect during this time frame, the controller will regard time-out and halts the movement. Specify 0 to disable the timeout. It can also be configured from the configTool.
Description
10000[ms]
/getGoUntilTimeout (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Returns the time-out duration when executing /goUntil
command.
Response
/goUntilTimeout (int)motorID (int)timeout
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
timeout | 0-65535[ms] | Time-out duration |
/releaseSw (int)motorID (bool)ACT (bool)DIR
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
ACT | 0-1 | Refer to the table below |
DIR | 0-1 | Refer to the table below |
ACT | Description |
---|---|
0 | Reset the ABS_POS register |
1 | Copy the value of the ASB_POS register to the MARK register |
DIR | Motor direction |
---|---|
1 | Forward |
0 | Reverse |
Executable timing
Always
Description
Move at minimum speed (5[step/s] by default) in the specified direction until the HOME switch pin becomes open. Then it will process the ABS_POS register according to the value of ACT. The process of the ACT is same as the /goUntil
command. Then halt the motor with hardStop.
Response
None
/setReleaseSwTimeout (int)motorID (int)timeOut
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
timeOut | 0-4294967295[ms] | Time-out duration |
Executable timing
Always
Description
Sets the time-out duration when executing /releaseSw
command. If the sensor cannot be released during this time frame, halt the movement as time-out. Specify 0 to disable the timeout. It can be configured from the configTool.
Initial value
5000[ms]
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Returns the time-out duration when executing /releaseSw
command.
Response
/releaseSwTimeout (int)motorID (int)timeout
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
timeout | 0-10000[ms] | Time-out duration |