MOTKA MK-200, User Manual

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Home operation is initiated by the Move Home (MH) instruction. MH
instruction accepts both direction and speed of search. Refer to Command
Reference for more information.
Move Home instruction initiates the corresponding PWM pulses and
Direction bit. In the example shown Figure 12, the MH instruction searches
in the forward (DIR is logic ‘0’) direction. Once the HM input is active (logic
‘0’), it toggles the Direction bit and reduces the speed of search, and
hence reverses the motion at a lower speed. This motion continues until
the HM input is inactive and the home operation is complete.
Figure 11 – Connecting to home indicator
Figure 12 – Home operation
MK-200
A-HM
Gnd
+5V
10K 10K
PWM
DIR
HM
Home sensor
active Forward home search Home operation completes