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Clear the Home Complete bit


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  • 8 years later...

For a brushless motor commutated by PMAC, at power-on/reset, Motor[x].PhaseFound and Motor[x].HomeComplete are automatically set to 0.


To set the PhaseFound bit to 1, you must execute a successful phase referencing operation, either a phasing search move, or a read of an absolute sensor.


The PhaseFound bit must equal 1 in order to be able to close the loop for such a motor. And if you can't close the loop, you can't start a homing search move. That is why you see the error reported.


So the typical startup procedure for such a motor is to first perform a phasing reference, then a homing search move.


The original post had to do with the very unusual case where a homing search move had already been performed successfully, resulting in the HomeComplete bit being set to 1. (For a brushless motor commutated by PMAC, PhaseFound must be 1 in this case.) Then for some reason, the user wants to clear this bit.

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