QS is less than three full motor steps, the YS error status bit is automatically reset back to 1; indicating a cleared
error.
Example: SPM Mode Setup
The following code demonstrates what is necessary to set up SPM mode for a full step drive, a half step drive, and a
1/64th microstepping drive for an axis with a 1.8
o
step motor and 4000 count/rev encoder. Note the necessary
difference is with the YA command.
Full-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
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
DMC-40x0 User Manual Chapter 6 Programming Motion • 118
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