Galil DMC-1800 user manual Example Error Correction, DMC-1700/1800, Programming Motion •

#SETUP
OE1;	Set the profiler to stop axis upon error
KS16;	Set step smoothing
MT-2;	Motor type set to stepper
YA64;	Step resolution of the microstepping drive
YB200;	Motor resolution (full steps per revolution)
YC4000;	Encoder resolution (counts per revolution)
SHX;	Enable axis
WT50;	Allow slight settle time
YS1;	Enable SPM mode

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 1.8o 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

DMC-1700/1800 Chapter 6 Programming Motion • 123