Galil DMC-2X00 用户手册
66
• Chapter 6 Programming Motion
DMC-2X00
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.
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;
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 1/64
after each move when conducting a reciprocating motion. The drive is a 1/64
th
microstepping drive
with a 1.8
o
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