Galil Motion Control DMC-18 2 Series User Manual page 110

YC4000;
SHX;
WT50;
YS1;
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
step motor and 4000 count/rev encoder.
#SETUP
OE1;
KS16;
MT-2,-2,-2,-2;
YA2;
YB200;
YC4000;
SHX;
WT100;
YS1;
#MOTION
SP512;
PR1000;
BGX;
#LOOP;JP#LOOP;
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;
WT100;
spsave=_SPX;
JP#RETURN,_YSX<>2;'RETURN TO THREAD ZERO IF INVALID ERROR
SP64;
MG"ERROR=
YRX=_QSX;
DMC-18x2
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
'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 DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
'PERFORM MOTION
'SET THE SPEED
'PREPARE MODE OF MOTION
'BEGIN MOTION
'KEEP THREAD ZERO ALIVE FOR #POSERR TO RUN IN
'AUTOMATIC SUBROUTINE IS CALLED WHEN YS=2
'WAIT HELPS USER SEE THE CORRECTION
'SAVE CURRENT SPEED SETTING
'SET SLOW SPEED SETTING FOR CORRECTION
",_QSX
'ELSE, ERROR IS VALID, USE QS FOR CORRECTION
Chapter 6 Programming Motion • 99
o