Galil DMC-1800 Manual De Usuario

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  

 

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. 

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 

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

sets their initial values. 

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

returns the value of the X and Z auxiliary encoders. 

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