Command Summary - Stepper Motor Operation; Operand Summary - Stepper Motor Operation; Stepper Position Maintenance Mode (Spm) - Galil Motion Control DMC-18 2 Series User Manual

Command Summary - Stepper Motor Operation

COMMAND
DE
DP
IT
KS
MT
RP
TD
TP

Operand Summary - Stepper Motor Operation

OPERAND
_DEx
_DPx
_ITx
_KSx
_MTx
_RPx
_TDx
_TPx

Stepper Position Maintenance Mode (SPM)

The Galil controller can be set into the Stepper Position Maintenance (SPM) mode to handle the event
of stepper motor position error. The mode looks at position feedback from the main encoder and
compares it to the commanded step pulses. The position information is used to determine if there is
any significant difference between the commanded and the actual motor positions. If such error is
detected, it is updated into a command value for operator use. In addition, the SPM mode can be used
as a method to correct for friction at the end of a microstepping move. This capability provides closed-
loop control at the application program level. SPM mode can be used with Galil and non-Galil step
drives.
SPM mode is configured, executed, and managed with seven commands. This mode
also utilizes the #POSERR automatic subroutine allowing for automatic user-defined
handling of an error event.
Internal Controller Commands (user can query):
QS Error Magnitude (pulses)
User Configurable Commands (user can query & change):
96 ● Chapter 6 Programming Motion
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DESCRIPTION
Define Encoder Position (When using an encoder)
Define Reference Position and Step Count Register
Motion Profile Smoothing - Independent Time Constant
Stepper Motor Smoothing
Motor Type (2,-2,2.5 or -2.5 for stepper motors)
Report Commanded Position
Report number of step pulses generated by controller
Tell Position of Encoder
DESCRIPTION
Contains the value of the step count register for the 'x' axis
Contains the value of the encoder for the 'x' axis
Contains the value of the Independent Time constant for the 'x' axis
Contains the value of the Stepper Motor Smoothing Constant for the 'x' axis
Contains the motor type value for the 'x' axis
Contains the commanded position generated by the profiler for the 'x' axis
Contains the value of the step count register for the 'x' axis
Contains the value of the main encoder for the 'x' axis
DMC-18x2