Page History

...

• 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 Mo to positive closed position
• Set C1 to P1, C2 to N1, Cs to N1
• Set Df to 1 (positive closed position, known)
• Signal state change to 79 (Homing complete)

Subroutines

...

Realign by computing new open-loop position (X7)

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

• Declare local variables L1, L2
• Compute the new open-loop position: C2 * <encoder counts per rev> / <microsteps per rev> = (C2 * EL * 8) / (MS * 200)
  • L1=C2*EL
  • L1=L1*8
  • L2=MS*200
• Write the new open-loop position to C1. (C1=L1/L2)

Drift Check at Positive Closed Position (X8)

...