DMC-40x0 Command Reference YR • 263
YR
FUNCTION: Error Correction
DESCRIPTION:
The YR command allows the user to correct for position error in Stepper Position Maintenance
mode. This correction acts like an IP command, moving the axis or axes the specified
quantity of step counts. YR will typically be used in conjunction with QS.
ARGUMENTS: YR m,m,m,m,m,m,m,m or YRn = m where
n is A,B,C,D,E,F,G or H or any combination to specify the axis or axes.
m is a magnitude in step counts.
USAGE: DEFAULTS:
While Moving No Default Value 0
In a Program Yes Default Format 1.4
Command Line Yes
OPERAND USAGE:
None
RELATED COMMANDS:
QS Error Magnitude
YA Step Drive Resolution
YB Step Motor Resolution
YR Error Correction
YS Stepper Position Maintenance Mode Enable, Status
EXAMPLES:
1. Using an SDM-20620 microstepping drive, query the error of the B axis:
QSB=?
:253 This shows 253 step counts of error. The SDM-20620
resolution is 64 microsteps per full motor step, nearly 4
full motor steps of error.
2. Correct for the error:
YRB=_QSB The motor moves _QS step counts to correct for the error,
and YS is set back to 1
Notes:
1. The YR command issues an increment position move. The magnitude of AC, DC, SP, KS as
well as axis non-linearities will affect the accuracy of the correction. It is recommended to use
a significant KS value, as well as low AC, DC, and SP for corrections.
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