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USER MANUAL Chapter 6 Programming Motion • 95
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:
#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.