Galil DMC-1800 Manual De Usuario
124 • Chapter 6 Programming Motion
DMC-1700/1800
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
SP16384;
Set the speed
PR10000;
Prepare mode of motion
BGX; Begin
motion
MCX
JS#CORRECT; Move
JS#CORRECT; Move
to
correction
#MOTION2
SP16384;
SP16384;
Set the speed
PR-10000;
Prepare mode of motion
BGX; Begin
motion
MCX
JS#CORRECT; Move
JS#CORRECT; Move
to
correction
JP#MOTION
#CORRECT; Correction
#CORRECT; Correction
code