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USER MANUAL Chapter 6 Programming Motion • 97
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
spx=_SPX
#LOOP; 'SAVE SPEED VALUE
SP2048; 'SET A NEW SLOW CORRECTION SPEED
WT100; 'STABILIZE
JP#END,@ABS[_QSX]<10;'END CORRECTION IF ERROR IS WITHIN DEFINED
'TOLERANCE
YRX=_QSX; 'CORRECTION MOVE