Page History

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• Signal state change to 70 (Homing init)
• Load homing/alignment speeds
• Execute home-to-index (HI) with option 3 (slew at VM in + direction, creep in - direction)
• Hold until movement complete
• Relative move (MR) by TODO magic offset to zero positive closed position
• Set P (necessary?) to P1, C1 to P1, C2 to zeroto N1, Cs to N1
• Set Df to 1 (positive closed position, known)
• Signal state change to 71 (Homing complete)
• Execute move to positive close position

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Subroutines

Realignment

This routine updates the open-loop position based on the encoder reading. The target position of any subsequent move will be better aligned.

• Compute the new open-loop position: C2 * <encoder counts per rev> / <microsteps per rev> = (C2 * EL * 8) / (MS * 200)
• Write the new open-loop position to P (necessary?) and C1.

Drift Check at Positive Closed Position (X8)

• If Df==1 (position is positive closed position), then
  • Let Dr=N1-Cs, such that Dr is positive if the motor is slipping (missing steps while travelling traveling in the positive direction)
  • If Dr >= Dl (drift limit), then
    • Set Ld=1, indicating a drift limit violation in the negative direction
  • EndIf
• EndIf
• Return

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