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Galil DMC-1800, DMC-1700 user manual Example: Friction Correction, 124 • Programming Motion

Models: DMC-1800 DMC-1700

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Example: Friction Correction

MG”ERROR= “,_QSX

 

YRX=_QSX;

Else, error is valid, use QS for correction

MCX;

Wait for motion to complete

MG”CORRECTED, ERROR NOW= “,_QSX

WT100;

Wait helps user see the correction

#RETURN

 

SPX=spsave;

Return the speed to previous setting

REO;

Return from #POSERR

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 1/64th microstepping drive with a 1.8o step motor and 4000 count/rev encoder.

#SETUP;

Set the profiler to continue upon error

KS16;

Set step smoothing

MT-2,-2,-2,-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

#MOTION;

Perform motion

SP16384;

Set the speed

PR10000;

Prepare mode of motion

BGX;

Begin motion

MCX

 

JS#CORRECT;

Move to correction

#MOTION2

 

SP16384;

Set the speed

PR-10000;

Prepare mode of motion

BGX;

Begin motion

MCX

 

JS#CORRECT;

Move to correction

JP#MOTION

 

#CORRECT;

Correction code

124 • Chapter 6 Programming Motion

DMC-1700/1800

Page 131 Page 133
Page 132
Image 132
Galil DMC-1800, DMC-1700 user manual Example: Friction Correction, 124 • Programming Motion
Page 131 Page 133