Homing Mode - demonstrates home method 18 decimal using Service Data Objects (SDOs).

IMS products support the ability to move in velocity mode. Once in Profile Velocity Mode, any new target velocity will be executed immediately.
The below example sets typical motion profile commands a system would configure¹, enabling the motor power² and executing a homing function using SDOs with Node ID 41h.

Notes:
1. Typical motion profile commands and configuring I/O could be set each time on power up from host or set using a configuration file and stored to NVM once.
2. Enabling the motor power only has to be done once on power up.


Typical motion profile commands and enabling motor power -
'***** Typical Motion Parameters *****
>> Id=0641, Rtr=00, Data= 2F 04 22 00 50 00 00 00 'Set run current to 80%
>> Id=0641, Rtr=00, Data= 23 84 60 00 40 42 0F 00 'Set deceleration to 1M steps/sec^2
>> Id=0641, Rtr=00, Data= 23 83 60 00 40 42 0F 00 'Set acceleration to 1M steps/sec^2

'***** Enable motor power - DSP402 state machine *****
>> Id=0641, Rtr=00, Data= 2B 40 60 00 06 00 00 00 'Ready to Switch on
>> Id=0641, Rtr=00, Data= 2B 40 60 00 07 00 00 00 'Switched on
>> Id=0641, Rtr=00, Data= 2B 40 60 00 0F 00 00 00 'Operation Enabled

'***** Set to Homing Mode *****
>> Id=0641, Rtr=00, Data= 2F 60 60 00 06 00 00 00 'Homing mode

Configure I/O and Homing Method
'***** Configure I/O - InOut, SnkSrc, Polarity, Type and Filter *****
>> Id=0641, Rtr=00, Data=22 00 20 01 00 00 00 00 'Set I/O as Inputs
>> Id=0641, Rtr=00, Data=22 00 20 02 00 00 00 00 'Set I/O as Sinking
>> Id=0641, Rtr=00, Data=22 00 20 04 01 00 00 00 'Set I1 Polarity
>> Id=0641, Rtr=00, Data=22 02 20 01 01 00 00 00 'Set I1 as Home Input
>> Id=0641, Rtr=00, Data=22 06 20 01 0A 00 00 00 'Set I1 filter to 10mSec

'***** Set Homing Method, Offset and Speeds *****
>> Id=0641, Rtr=00, Data= 22 98 60 00 13 00 00 00 'Homing Method 19 decimal
>> Id=0641, Rtr=00, Data= 2F 98 20 00 01 00 00 00 'Apply Home Offset to position counter
>> Id=0641, Rtr=00, Data= 22 7C 60 00 00 00 00 00 'Home Offset value = 0
>> Id=0641, Rtr=00, Data= 22 99 60 01 00 C8 00 00 'Home Speed Fast
>> Id=0641, Rtr=00, Data= 22 99 60 02 00 14 00 00 'Home Speed Slow

Start Homing
>> Id=0641, Rtr=00, Data= 2B 40 60 00 1F 00 00 00 'Start homing

after Home switch is toggled
>> Id=0641, Rtr=00, Data= 2B 40 60 00 00 00 00 00 'Stop homing