Galil Motion Control DMC-18 2 Series User Manual page 111

MCX;
MG"CORRECTED, ERROR NOW=
WT100;
#RETURN
SPX=spsave;
RE0;
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 1/64
o
with a 1.8
#SETUP;
KS16;
MT-2,-2,-2,-2;
YA64;
YB200;
YC4000;
SHX;
WT50;
YS1;
#MOTION;
SP16384;
PR10000;
BGX;
MCX
JS#CORRECT;
#MOTION2
SP16384;
PR-10000;
BGX;
MCX
JS#CORRECT;
JP#MOTION
#CORRECT;
100 ● Chapter 6 Programming Motion
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'WAIT FOR MOTION TO COMPLETE
",_QSX
'WAIT HELPS USER SEE THE CORRECTION
'RETURN THE SPEED TO PREVIOUS SETTING
'RETURN FROM #POSERR
step motor and 4000 count/rev encoder.
'SET THE PROFILER TO CONTINUE UPON ERROR
'SET STEP SMOOTHING
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE MICROSTEPPING 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
'MOVE TO CORRECTION
'SET THE SPEED
'PREPARE MODE OF MOTION
'BEGIN MOTION
'MOVE TO CORRECTION
'CORRECTION CODE
th
microstepping drive
DMC-18x2