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Chapter 6 Programming Motion • 96 USER MANUAL
#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
YS1; 'ENABLE SPM MODE
#MOTION 'PERFORM MOTION
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
RE0; 'RETURN FROM #POSERR