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122 • Chapter 6 Programming Motion DMC-1700/1800
1. The motion is maintained or is stopped, depending on the setting of the OE command. If OE=0
the axis stays in motion, if OE=1 the axis is stopped.
2. YS is set to 2, which causes the automatic subroutine labeled #POSERR to be executed.
Correction
A correction move can be commanded by assigning the value of QS to the YR correction move
command. The correction move is issued only after the axis has been stopped. After an error
correction move has completed and QS is less than three full motor steps, the YS error status bit is
automatically reset back to 1; indicating a cleared error.
Example: SPM Mode Setup
The following code demonstrates what is necessary to set up SPM mode for a full step drive, a half
step drive, and a 1/64
th
microstepping drive for an axis with a 1.8
o
step motor and 4000 count/rev
encoder. Note the necessary difference is with the YA command.
Full-Stepping Drive, X axis:
#SETUP
OE1; Set the profiler to stop axis upon error
KS16; Set step smoothing
MT-2; Motor type set to stepper
YA1; Step resolution of the full-step 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
Half-Stepping Drive, X axis:
#SETUP
OE1; Set the profiler to stop axis upon error
KS16; Set step smoothing
MT-2; Motor type set to stepper
YA2; Step resolution of the half-step 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
1/64
th
Step Microstepping Drive, X axis: