Zikodrive ZD10UART Series, Руководство по эксплуатации

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730
Absolute Commands
The absolute commands are completed with a reference to a fixed home position. Ie, moving to an
absolute number of steps from the home position.
Care must be taken when using the Absolute commands that the M_STEP register is not changed
during the use of the Absolute Commands. This is because the ZikoDrive uses the M_STEP
resolution as an incremental counter from the HOME position and when the M_STEP register
changes the counter becomes meaningless.
MOV_HOME (0x05)
The MOV_HOME command will take the motor in either CW or CCW (it will take the shortest path)
to the set home position. The home position is the position the motor is in when the board powers
up, or the position set using either the RST_HOME command or the MOV_HOME_RST command.
The MOV_HOME command will use the ACC_VAL to accelerate up to the SPD_RUN speed then
decelerate using the DEC_VAL down and then stop on the HOME position.
Example 8 - MOV_HOME & High Impedance
From Master
0x7A 0x64 0x01 0x05 0xF8
From ZikoDrive 0x06
//After MOV_HOME has completed stopped on the HOME position//
From ZikoDrive 0x00
From Master 0x7A 0x64 0x01 0x03 0xFA
From ZikoDrive 0x00
RST_HOME (0x06)
The RST_HOME command will re-set the home position to ZERO, making the current position of
the motor the new HOME position.
Example 9 - RST_HOME
From Master 0x7A 0x64 0x01 0x06 0xF7
From ZikoDrive 0x06 0x00