Galil DMC-4040, User Manual

Page: 128 / 284

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
OE1;
Set the profiler to stop axis upon error
KS16; Set step smoothing
MT-2,-2,-2,-2; Motor type set to stepper
YA2; Step resolution of the drive
YB200; Motor resolution (full steps per revolution)
YC4000; Encoder resolution (counts per revolution)
SHX; Enable axis
WT100; Allow slight settle time
#MOTION Perform motion
SP512; Set the speed
PR1000; Prepare mode of motion
BGX; Begin motion
#LOOP;JP#LOOP; Keep thread zero alive for #POSERR to run in
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
WT100; Wait helps user see the correction
spsave=_SPX; Save current speed setting
JP#RETURN,_YSX<>2; Return to thread zero if invalid error
SP64; Set slow speed setting for correction
MG
"
ERROR=
"
,_QSX
YRX=_QSX; Else, error is valid, use QS for correction
MCX; Wait for motion to complete
MG
"
CORRECTED, ERROR NOW=
"
,_QSX
WT100; Wait helps user see the correction
#RETURN
SPX=spsave;
Return the speed to previous setting
REO; 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 1/64th microstepping drive with a 1.8
o step motor and 4000
count/rev encoder.
#SETUP; Set the profiler to continue upon error
KS16; 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)
Chapter 6 Programming Motion
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119 DMC-40x0 User Manual