User`s guide

44 • Operation Theorem
4.1.6 Home Return Mode
In this mode, you can let the PCI-8134 output pulses until the conditions to
complete the home return is satisfied after writing the home_move()
command. Finish of home return can be checked by motion_done()
function. Or you can check finish of home return accompanied with the
interrupt function by setting bit 5 of int_factor to 1 in set_int_factor()
function.
Moving direction of motors in this mode is determined by the sign of velocity
parameter in home_move() function. A v_stop() command during returning
home can stop OUT and DIR from outputting pulses.
Before writing home_move() command, configuration must be set by
set_home_config() function. . See also Section 4.3.3 for further
description. There are total three home return modes can be selected by
setting home_mode parameter in set_home_config() function. The
meaning of Home_mode will be described as the following:
(1) Home_mode=0: ORG only, no index signal. The ORG signal
immediately stops OUT and DIR pins from outputting pulses to
complete the origin return.
time
• ‚
mvel
svel
Velocity
accel
ORG
• Writing home-move ()
command to begin home
return operation
‚ORG Signal ON