Galil DMC-13X8 ユーザーズマニュアル
USER MANUAL
Chapter 6 Programming Motion
• 93
Command Summary - Stepper Motor Operation
COMMAND DESCRIPTION
DE
Define Encoder Position (When using an encoder)
DP
Define Reference Position and Step Count Register
IT
Motion Profile Smoothing - Independent Time Constant
KS
Stepper Motor Smoothing
MT
Motor Type (2,-2,2.5 or -2.5 for stepper motors)
RP
Report Commanded Position
TD
Report number of step pulses generated by controller
TP
Tell Position of Encoder
Operand Summary - Stepper Motor Operation
OPERAND DESCRIPTION
_DEx
Contains the value of the step count register for the ‘x’ axis
_DPx
Contains the value of the main encoder for the ‘x’ axis
_ITx
Contains the value of the Independent Time constant for the 'x' axis
_KSx
Contains the value of the Stepper Motor Smoothing Constant for the 'x' axis
_MTx
Contains the motor type value for the 'x' axis
_RPx
Contains the commanded position generated by the profiler for the ‘x’ axis
_TDx
Contains the value of the step count register for the ‘x’ axis
_TPx
Contains the value of the main encoder for the ‘x’ axis
Stepper Position Maintenance Mode (SPM)
The Galil controller can be set into the Stepper Position Maintenance (SPM) mode to handle the event
of stepper motor position error. The mode looks at position feedback from the main encoder and
compares it to the commanded step pulses. The position information is used to determine if there is
any significant difference between the commanded and the actual motor positions. If such error is
detected, it is updated into a command value for operator use. In addition, the SPM mode can be used
as a method to correct for friction at the end of a microstepping move. This capability provides closed-
loop control at the application program level. SPM mode can be used with Galil and non-Galil step
drives.
of stepper motor position error. The mode looks at position feedback from the main encoder and
compares it to the commanded step pulses. The position information is used to determine if there is
any significant difference between the commanded and the actual motor positions. If such error is
detected, it is updated into a command value for operator use. In addition, the SPM mode can be used
as a method to correct for friction at the end of a microstepping move. This capability provides closed-
loop control at the application program level. SPM mode can be used with Galil and non-Galil step
drives.
SPM mode is configured, executed, and managed with seven commands. This mode also utilizes the
#POSERR automatic subroutine allowing for automatic user-defined handling of an error event.
#POSERR automatic subroutine allowing for automatic user-defined handling of an error event.
Internal Controller Commands (user can query):
QS Error
Magnitude
(pulses)
User Configurable Commands (user can query & change):
OE Profiler
Off-On
Error