Galil Motion Control DMC-18 2 Series User Manual page 109

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 1.8o step motor and 4000 count/rev
encoder. Note the necessary difference is with the YA command.
Full-Stepping Drive, X axis:
#SETUP
OE1;
KS16;
MT-2;
YA1;
YB200;
YC4000;
SHX;
WT50;
YS1;
Half-Stepping Drive, X axis:
#SETUP
OE1;
KS16;
MT-2;
YA2;
YB200;
YC4000;
SHX;
WT50;
YS1;
th
1/64 Step Microstepping Drive, X axis:
#SETUP
OE1;
KS16;
MT-2;
YA64;
YB200;
98 ● Chapter 6 Programming Motion
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'SET THE PROFILER TO STOP AXIS UPON ERROR
'SET STEP SMOOTHING
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE FULL-STEP DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
'SET THE PROFILER TO STOP AXIS UPON ERROR
'SET STEP SMOOTHING
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE HALF-STEP DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
'SET THE PROFILER TO STOP AXIS UPON ERROR
'SET STEP SMOOTHING
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE MICROSTEPPING DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
DMC-18x2