Homing

Homing can be used to find the zero position in case there is no external encoder.

Currently only sensorless homing is supported, meaning a collision of the limit and the load has to occur on each end of the allowed range.

Note

In order for homing to work the actuator’s Velocity PID and Position PID loops have to be tuned correctly.

Homing settings

Homing can be performed after a certain setup is complete. The setup is done using motor config file and mdtool setup motor command. For more information refer to homing config section.