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Wiki Markup
Se \- Pulse Picker mode \[Se\]lect. Refer to Mode List for a complete list of Se modes.

Sd - Status indicator register. Used for debugging. Refer to Status List for a complete list of statuses.

Wiki Markup
Sw \- \[Sw\]eep distance. Number of motor steps to equal 11.25 degrees of motion.

Sr - Encoder sweep distance. Number of encoder steps to equal 11.25 degrees of motion.

Wiki Markup
Dr \- Encoder \[Dr\]ift, or the difference between the encoder count the predicted encoder position.

P0 - Center (open) position, in motor steps.
P1 - Positive closed position, in motor steps, nominally P0+Sw. (Repurposed from standard MCode program.)
P2 - Negative closed position, in motor steps, nominally P0-Sw.
N0 - Center (open) position, in encoder counts.
N1 - Positive closed position, in encoder counts, nominally N0+Sr.
N2 - Negative closed position, in encoder counts, nominally N0-Sr.
Ec - Error checking flag. (0=OFF, 1=ON)
Ns - Pulse Picker MCode version. (Repurposed from standard MCode program.)
Hb - Heartbeat counter, incremented approx. every 100ms.
Cs - Encoder counter shadow register (=C2)
Ud - Drift violation, motor drifting in + direction (0= NO ERROR, 1=VIOLATION)
Ld - Drift violation, motor drifting in - direction (0=NO ERROR, 1=VIOLATION)
Df - Motor position flag (see interpretation below)
Mo - Experimentally-determined magic offset, in motor steps, that is the distance between the negative side of the homing index mark and P1. This number will be negative so that it feeds directly into an MR command.

Program 1

Initialization

Code:

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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 Mo to positive closed position
Set P (necessary?) to P1, C1 to P1, C2 to N1, Cs to N1
Set Df to 1 (positive closed position, known)
Signal state change to 71 (Homing complete)

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