paison Posted November 23, 2016 Posted November 23, 2016 hi: If I use the HMZ to clear the latch position and the actual position is very different, what should I do to make the latch position correct? for example: m162 = 125000 m103 = 22250 How to correct the conversion?
curtwilson Posted November 23, 2016 Posted November 23, 2016 Latch position (M103) is a hardware position register in the ASIC that is relative to power-on position. It is in units of full counts. Actual position (M162) a software position register in RAM that is relative to the latest motor zero position (power-on, home, or homez). It is in units of 1/(I108*32) counts. HMZ does not not clear the latch position. It sets the present motor command position to zero, with the motor actual position differing from zero only by the present following error (which is zero by definition if the loop is open).
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