ADLINK HSL-4XMO - Manual (Page 78)

68 Operation Theory
“home_mode” argument in the function
HSL_M_set_home_config(). The logic polarity of the ORG signal
level or latched input mode is also selectable using this function as
well.
After setting the configuration for the home return mode with
HSL_M_set_home_config(), the HSL_M_home_move() com-
mand can perform the home return function.
X
Relative Functions:
HSL_M_set_home_config(), HSL_M_home_move()
4.9 The Counters
There are four counters for each axis of the HSL-4XMO. They are
described in this section:
X Command position counter: counts the number of output
pulses
X
Feedback position counter: counts the number of input
pulses
X
Position error counter: counts the error between command
and feedback pulse numbers.
X General-purpose counter: The source can be configured as
pulse output, feedback pulse, manual pulse, or CLK/2.
Also, the target position recorder, a software-maintained position
recorder, is discussed.
Command Position Counter
The command position counter is a 28-bit binary up/down counter.
its input source is the output pulse from the HSL-4XMO, thus, it
provides accurate information of the current position. Note: the
command position is different from target position. The command
position increases or decreases according to the pulse output,
while the target position changes only when a new motion com-
mand has been executed. The target position is recorded by the
software, and needs manually resetting after a home move is com-
pleted.
The command position counter will clear (reset to “0”) automati-
cally after a home move has completed. The function