Hardware manual

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In the following lines I will describe shortly configuration flags for a motor described by
pxms_state structure. All these flags are available in PXMC library and they are presented
on the picture nr 5.3.3-4. Unfortunately I didn't have opportunity to test them myself,
because in most cases they were just set by people with bigger experience than me.
PXMS_CFG_HDIR_b decides about the initial rotation
direction of the motor.
PXMS_CFG_HRI_b states whether we are going to use
revolution index from HP HEDS or not.
PXMS_CFG_HMC_b means that we find absolute position of
a mark center of a home direction axis with end switches.
PXMS_CFG_HLS_b decides if we want to use limit switch or
not.
PXMS_CFG_HPS_b: by enabling or disabling this flag we can
choose the polarity of switch.
PXMS_CFG_SMTH_b: If this flag is enables it means we want
to have a smooth speed changes.
PXMS_CFG_MD2E_b: If this flag is enabled, then every time
when the absolute difference between actual and required
position will be greater than maximal difference (pxms_md),
there will be generated error.
PXMS_CFG_CYCL_b: This flag selects whether our axis/motor is cyclic or not. If it is, then
PXMC knows that overflow is intended and  generate error.
At this point it is good to note, that PXMC library has some small and basic group of debug
functions. Unfortunately, as it was mentioned earlier, the debug section is still strong
limited in functionality for brushless motors. Nevertheless, it should be known, that
pxmc.h defines pxmc_dbg_hist_t structure, which has three pointers:
long *ptr;
long *buff;
long *end;
Fig. 5.3.3-4. Configuration
flags in PXMC.