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DMC-2X00 Chapter 6 Programming Motion y 65
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:
#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
Example: Error Correction
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