MAXnet Manual - Pro-Dex, Oregon Micro Systems - #101

Text version of the page

MAX COMMAND REFERENCE MANUAL 1-97 HI HOME INDEX Firmware Revision Required: V1.30 and greater The HI command enables encoder index, and phase A and B signals to be considered in addition to the home switch input when an HM or HR command is executed. This command does not execute the home motion which must be initiated with an HM, HR, KM, or KR command. Default home behavior (considering only the home switch for home commands) may be reestablished via the HI0; command. In the HI1; mode, home is defined as the logical AND of the encoder index, the external home enable and the encoder quadrant where channel A is positive and channel B is negative. The default home logic expressed in Boolean terms is: home = phase_A / phase_B index / home_switch The default logic can be changed to any required combination with the use of HT command to set the true home switch state and the EH command to set the encoder signal (Index, Phase A and B) states required for a true home condition. HI? can be used to query the current setting. Example: Set up the Y axis so it will use the encoder signals to recognize the home position. Enter: AY; HI1; or AA; HI,1; Response: None QUEUE REQUIREMENTS FORMAT MODE COMMAND ARGUMENT HI[0/1/?]; Single Axis Immediate HIb,b,b,b,b,b,b,b; AA-AM Immediate Related commands: EH, HM, HR, HT, KM, KR