Homing and Limiting

/goUntil (int)motorID (bool)ACT (float)speed

Argument

Argument	Range	Description
motorID	1-4, 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

Produce a motion at specified speed and direction. When the HOME switch turn-on event occurs (the HOME switch terminal is closed), process ABS_POS according to the ACT value. Then softStop, but if the SW_MODE is set to 0 in the /setSwMode command, it will be a hardStop instead of a softStop. This command will keep the BUSY state until the motor stops.

/releaseSw (int)motorID (bool)ACT (bool)DIR

Argument

Argument	Range	Description
motorID	1-4, 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

Produce a motion at minimum speed (5[step/s] by default) in the specified direction until the HOME switch pin becomes open. Then it will perform processing according to the value of ACT. Also cause a hardStop.

/getHomeSw (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Description

Gets the status of the HOME switch, closed or opened.

Response

/homeSw (int)motorID (bool)swState (bool)direction

Argument	Range	Description
motorID	1-4, 255	motor ID
swState	0-1	State
direction	0-1	direction

swState	State
0	Open, Unresponsive state.
1	Closed, Reactive state.

direction	Motor direction
1	Forward
0	Reverse

/enableHomeSwReport (int)motorID (bool)enable

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
enable	0-1	1:Enable, 0:Disable

Executable timing

Always

Description

The following message is sent automatically when there is a change in the status of the HOME switch terminal of the specified motor.

/homeSw (int)motorID (bool)swState (bool)direction

Argument	Range	Description
motorID	1-4, 255	motor ID
swState	0-1	State

swState	State
0	Open, Unresponsive state.
1	Closed, Reactive state.

direction	Motor direction
1	Forward
0	Reverse

Initial value

0 (Disabled)

/setHomeSwMode (int)motorID (bool)SW_MODE

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
SW_MODE	0-1	state

SW_MODE	Switch mode
0	HardStop interrupt (stop immediately)
1	User disposal (not stop)

Executable timing

HiZ state

Description

Specifies a switch mode, whether to stop immediately when the HOME switch react (falling edge).

Initial value

1 (User disposal)

/getHomeSwMode (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Description

Get the Switch mode which described above.

Response

/swMode (int)motorID (bool)swMode

Argument	Range	Description
motorID	1-4, 255	motor ID
swMode	0-1

/goHome (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

When the motor is not BUSY

Description

Produces a motion to the HOME position (zero position) following with the speed profile.

/goMark (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

When the motor is not BUSY

Description

Produces a motion to the MARK position following with the speed profile.

/setMark (int)motorID (int)MARK

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
MARK

Executable timing

Always

Description

Set the MARK register as a specified position.

/getMark (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Description

Get the MARK position.

Response

/mark (int)motorID (int)MARK

Argument	Range	Description
motorID	1-4, 255	motor ID
MARK		Position of the MARK