Galil DMC-1700 Dual Loop Auxiliary Encoder, Using the CE Command, DE 0,500,-30,300, De ?,,?

spx=_SPX
#LOOP;	Save speed value
SP2048;	Set a new slow correction speed
WT100;	Stabilize
JP#END,@ABS[_QSX]<10;	End correction if error is within defined tolerance
YRX=_QSX;	Correction move
MCX
WT100;	Stabilize
JP#LOOP;	Keep correcting until error is within tolerance
#END;	End #CORRECT subroutine, returning to code
SPX=spx
EN

Dual Loop (Auxiliary Encoder)

The DMC-1700/1800 provides an interface for a second encoder for each axis except for axes configured for stepper motor operation and axis used in circular compare. When used, the second encoder is typically mounted on the motor or the load, but may be mounted in any position. The most common use for the second encoder is backlash compensation, described below.

The second encoder may be a standard quadrature type, or it may provide pulse and direction. The controller also offers the provision for inverting the direction of the encoder rotation. The main and the auxiliary encoders are configured with the CE command. The command form is CE x,y,z,w (or a,b,c,d,e,f,g,h for controllers with more than 4 axes) where the parameters x,y,z,w each equal the sum of two integers m and n. m configures the main encoder and n configures the auxiliary encoder.

Using the CE Command

m= Main Encoder

n=

Second Encoder

0	Normal quadrature		0	Normal quadrature
1	Pulse & direction	4		Pulse & direction
2	Reverse quadrature	8		Reversed quadrature
3	Reverse pulse & direction	12		Reversed pulse & direction

For example, to configure the main encoder for reversed quadrature, m=2, and a second encoder of pulse and direction, n=4, the total is 6, and the command for the X axis is

CE 6

Additional Commands for the Auxiliary Encoder

The command, DE x,y,z,w, can be used to define the position of the auxiliary encoders. For example,

DE 0,500,-30,300

sets their initial values.

The positions of the auxiliary encoders may be interrogated with the command, DE?. For example

DE ?,,?

returns the value of the X and Z auxiliary encoders.

The auxiliary encoder position may be assigned to variables with the instructions

DMC-1700/1800 Chapter 6 Programming Motion • 125