Galil Motion Control DMC-18 2 Series, User Manual

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100 ● Chapter 6 Programming Motion DMC-18x2
MC X ; 'WAIT FOR MOTION TO COMPLETE
MG "CORRECTED, ERROR NOW= " ,_QSX
WT 100; 'WAIT HELPS USER SEE THE CORRECTION
#RETURN
SP X =spsave; 'RETURN THE SPEED TO PREVIOUS SETTING
RE 0; 'RETURN FROM #POSERR
Example: Friction Correction
The following example illustrates how the SPM mode can be useful in correcting for X axis friction
after each move when conducting a reciprocating motion. The drive is a 1/64
th
microstepping drive
with a 1.8
o
step motor and 4000 count/rev encoder.
#SETUP ; 'SET THE PROFILER TO CONTINUE UPON ERROR
KS 16; 'SET STEP SMOOTHING
MT -2,-2,-2,-2; 'MOTOR TYPE SET TO STEPPER
YA64; 'STEP RESOLUTION OF THE MICROSTEPPING DRIVE
YB200; 'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
YC4000; 'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
SH X ; 'ENABLE AXIS
WT 50; 'ALLOW SLIGHT SETTLE TIME
YS1; 'ENABLE SPM MODE
#MOTION ; 'PERFORM MOTION
SP 16384; 'SET THE SPEED
PR 10000; 'PREPARE MODE OF MOTION
BG X ; 'BEGIN MOTION
MC X
JS #CORRECT ; 'MOVE TO CORRECTION
#MOTION2
SP 16384; 'SET THE SPEED
PR -10000; 'PREPARE MODE OF MOTION
BG X ; 'BEGIN MOTION
MC X
JS #CORRECT ; 'MOVE TO CORRECTION
JP #MOTION
#CORRECT ; 'CORRECTION CODE
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