T-Series/Commands/Home/General
Warning: This is an "include" page. As such, its contents may be included in multiple other pages. To see a list of all pages that include this page, click on "What links here" in the bottom left navbar. If you make changes to this page, be sure that your changes are appropriate to all pages on which this content will be included. You are also encouraged to review our Zaber Wiki Editing Guidelines. This header will not be included in other pages.
| Instruction Name | Home |
|---|---|
| Applies to | All motorized devices |
| Firmware Version | 5.00 and up |
| Command Number | 1 |
| Command Type | Command |
| Command Data | Ignored |
| Reply Data | Final Position |
| Safe to retry? | Yes |
| Returns Current Position? | Yes |
| Persistence | n/a |
| Summary | Moves to the home position and resets the device's internal position. |
Upon receiving this instruction, the device will retract until its internal home sensor is triggered. It will then move forward several steps to avoid accidentally re-triggering the home sensor during use. Its internal position is then reset (to 0 for most devices). If a home offset has been specified with the Set Home Offset (cmd 47) instruction, the device will move forward for the specific offset, then reset the internal position.
- T-Series devices - Firmware 5.01 - 5.20
The device will attempt to home for an extended amount of time.
- T-Series devices - Firmware 5.21 and up
The home command aborts with an error if the device has traveled twice the Maximum Position setting without triggering the home sensor. This indicates that the device could possibly be stalling or slipping.
- A-Series and X-Series devices - Firmware 6.xx
The device will attempt to home for an extended amount of time. If Closed-Loop Mode is enabled for an encoder-embedded device, the device will report any slip or stall incident.