Example: friction correction – Galil DMC-2X00 User Manual
Page 121
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
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;
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
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
DMC-2X00
Chapter 6 Programming Motion
y 111