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how to Get correct latch position


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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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