Galil Motion Control DMC-42 0 Series, User Manual

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Error Limit
The value of QS is internally monitored to determine if it exceeds a preset limit of three full motor steps. Once the
value of QS exceeds this limit, the controller then performs the following actions:
1. The motion is maintained or is stopped, depending on the setting of the OE command. If OE=0 the axis
stays in motion, if OE=1 the axis is stopped.
2. YS is set to 2, which causes the automatic subroutine labeled #POSERR to be executed.
Correction
A correction move can be commanded by assigning the value of QS to the YR correction move command. The
correction move is issued only after the axis has been stopped. After an error correction move has completed and
QS is less than three full motor steps, the YS error status bit is automatically reset back to 1; indicating a cleared
error.
Example: SPM Mode Setup
The following code demonstrates what is necessary to set up SPM mode for a full step drive, a half step drive, and a
1/64th microstepping drive for an axis with a 1.8
o step motor and 4000 count/rev encoder. Note the necessary
difference is with the YA command.
Full-Stepping Drive, X axis:
#SETUP
OE1;
Set the profiler to stop axis upon error
KS16; Set step smoothing
MT-2; Motor type set to stepper
YA1; Step resolution of the full-step drive
YB200; Motor resolution (full steps per revolution)
YC4000; Encoder resolution (counts per revolution)
SHX; Enable axis
WT50; Allow slight settle time
YS1; Enable SPM mode
Half-Stepping Drive, X axis:
#SETUP
OE1;
Set the profiler to stop axis upon error
KS16; Set step smoothing
MT-2; Motor type set to stepper
YA2;
Step resolution of the half-step drive
YB200; Motor resolution (full steps per revolution)
YC4000; Encoder resolution (counts per revolution)
SHX; Enable axis
WT50; Allow slight settle time
YS1; Enable SPM mode
1/64 th Step Microstepping Drive, X axis:
#SETUP
OE1;
Set the profiler to stop axis upon error
KS16; Set step smoothing
MT-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)
SHX;
Enable axis
WT50; Allow slight settle time
YS1; Enable SPM mode
Chapter 6 Programming Motion ▫ 93 DMC-42x0 User Manual