Galil DMC-1700 Manual De Usuario

#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 

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

o

 

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 

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