INT32U CMD Command
INT32U FastHome Speed used for first motion. Range: 0..100000.
INT8U uFastHome Part of the speed for first motion, microsteps.
INT32U SlowHome Speed used for second motion. Range: 0..100000.
INT8U uSlowHome Part of the speed for second motion, microsteps.
INT32S HomeDelta Distance from break point.
INT16S uHomeDelta Part of the delta distance, microsteps. Range: -255..255.
INT16U HomeFlags Set of flags specify direction and stopping conditions.
0x001 - HOME_DIR_FIRST (Flag defines direction of 1st motion after execution of home command. Direction is
right, if set; otherwise left.)
0x002 - HOME_DIR_SECOND (Flag defines direction of 2nd motion. Direction is right, if set; otherwise left.)
0x004 - HOME_MV_SEC_EN (Use the second phase of calibration to the home position, if set; otherwise the
second phase is skipped.)
0x008 - HOME_HALF_MV (If the flag is set, the stop signals are ignored in start of second movement the first
half-turn.)
0x030 - HOME_STOP_FIRST_BITS (Bits of the first stop selector.)
0x010 - HOME_STOP_FIRST_REV (First motion stops by revolution sensor.)
0x020 - HOME_STOP_FIRST_SYN (First motion stops by synchronization input.)
0x030 - HOME_STOP_FIRST_LIM (First motion stops by limit switch.)
0x0C0 - HOME_STOP_SECOND_BITS (Bits of the second stop selector.)
0x040 - HOME_STOP_SECOND_REV (Second motion stops by revolution sensor.)
0x080 - HOME_STOP_SECOND_SYN (Second motion stops by synchronization input.)
0x0C0 - HOME_STOP_SECOND_LIM (Second motion stops by limit switch.)
0x100 - HOME_USE_FAST (Use the fast algorithm of calibration to the home position, if set; otherwise the
traditional algorithm.)
INT8U
Reserved
[9]
Reserved (9 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set home settings. This function send structure with calibrating position settings to controller's memory.
Command GHOM
result_t get_home_settings (device_t id, home_settings_t* home_settings)
Command code (CMD): "ghom" or 0x6D6F6867.
Request: (4 bytes)
INT32U CMD Command
Answer: (33 bytes)
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