Multi-Axis Home
HOME · V4.23Home coordinate axes in the selected A to I sequence. Select single-stage or three-stage mode, then choose the homing order.
Requires multi-axis interpolation mode.
Hexadecimal notation is used for IDs, indexes, modes and sentinel values where applicable. Physical quantities (such as pulses, milliseconds and pulse/s) remain in their native units. Macro names are shown only when defined by the firmware.
Input parameters
| Parameter | Initial value | Meaning |
|---|---|---|
Homing modehome_mode | 0x02U | Single-stage or Three-stage. Single-stage uses each axis search rate; three-stage uses search, release and latch. Requires the matching ZE MCU firmware. 0x01U = MTGM_OP_HOME_MODE_SINGLE_STAGE; 0x02U = MTGM_OP_HOME_MODE_THREE_STAGE. |
Homing orderhome_order | DEFAULT | DEFAULT uses the saved machine order; A to I select an explicit sequence. The selected mode applies to every axis in the sequence. |
Initial values are editor defaults for a newly inserted instruction; configure them for the actual machine.
Firmware macro definitions
Hexadecimal equivalents of the firmware definitions; numeric values are unchanged.
#define MTGM_OP_HOME_MODE_SINGLE_STAGE 0x01U
#define MTGM_OP_HOME_MODE_THREE_STAGE 0x02UExecution and usage
- Legacy templates and MCU home instructions are converted to Mode and Order. Legacy mode 0 becomes Three-stage; a missing order uses the machine default. Review each axis's homing rates and the order before downloading the converted program.
- Z completes the selected homing cycle before the next group. In (XY) and (XYR), each axis independently runs the selected cycle. A completed axis stops its own pulses; the group waits until every participating axis has finished. A failed axis stops the group and prevents later groups.
- If X starts on its home switch, X first releases that switch while Y and enabled R begin searching. Confirming a home switch or its release requires a continuous stable signal for at least 5 ms; a rebound restarts confirmation.
- Stop ends the current homing cycle. A new start is rejected while that cycle is still exiting; wait for it to finish and retry. Restart begins a new cycle.
- Homing order: A=Z/X/Y/R, B=Z/X/R/Y, C=Z/Y/X/R, D=Z/Y/R/X, E=Z/R/X/Y, F=Z/R/Y/X, G=Z/(XY)/R, H=Z/R/(XY), I=Z/(XYR). Axes in parentheses home together.