Galil Motion Control DMC-42 0 Series, User Manual

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Example: Error Correction
The following code demonstrates what is necessary to set up SPM mode for the X axis, detect error, stop the motor,
correct the error, and return to the main code. The drive is a full step drive, with a 1.8
o step motor and 4000
count/rev encoder.
#setup
OE 1;'
Set the profiler to stop axis upon error
KS 16;' Set step smoothing
MT -2,-2,-2,-2;' Motor type set to stepper
YA 2;' Step resolution of the drive
YB 200;' Motor resolution (full steps per revolution)
YC 4000;' Encoder resolution (counts per revolution)
SH A;' Enable axis
WT 100;' Allow slight settle time
#motion;' Perform motion
SP 512;' Set the speed
PR 1000;' Prepare mode of motion
BG A;' Begin motion
EN;' End of program subroutine
REM When error occurs, the axis will stop due to OE1. In
REM #POSERR, query the status YS and the error QS, correct,
REM and return to the main code.
#POSERR;' Automatic subroutine is called when _YS=2
WT 100;' Wait helps user see the correction
spsave=_SPA;' Save current speed setting
JP #return,_YSA<>2;'
Return to thread zero if invalid error
SP64; Set slow speed setting for correction
MG "ERROR= ",_QSA
YRA=_QSA;'
Else, error is valid, use QS for correction
MC A; Wait for motion to complete
MG "CORRECTED, ERROR NOW= ",_QSX
WT 100;'
Wait helps user see the correction
#return
SPA=spsave;'
Return the speed to previous setting
RE 0;' Return from #POSERR
Chapter 6 Programming Motion ▫ 94 DMC-42x0 User Manual