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DMC-2X00

Chapter 6 Programming Motion

y 65

Half-Stepping Drive, X axis:

#SETUP

OE1;

Set the profiler to stop axis upon error

KS16;

Set step smoothing

MT-2;

Motor type set to stepper

YA2;

Step resolution of the half-step 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

1/64

Step Microstepping Drive, X axis:

#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 1.8

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