Galil DMC-2X00 user manual Example Friction Correction

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
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

66 • Chapter 6 Programming Motion DMC-2X00