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 /setHomingDirectionand /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 0-65535[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. 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 0-65535[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. 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
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