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124 • Chapter 6 Programming Motion DMC-1700/1800
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
SP16384; Set the speed
PR10000; Prepare mode of motion
BGX; Begin motion
MCX
JS#CORRECT; Move to correction
#MOTION2
SP16384; Set the speed
PR-10000; Prepare mode of motion
BGX; Begin motion
MCX
JS#CORRECT; Move to correction
JP#MOTION
#CORRECT; Correction code