DMC-18x6 Command Reference
222
YS
FUNCTION: Stepper Position Maintenance Mode Enable, Status
DESCRIPTION:
The YS command enables and disables the Stepper Position Maintenance Mode function. YS also
reacts to excessive position error condition as defined by the QS command.
ARGUMENTS: YS m,m,m,m,m,m,m,m or YSn = m
where
n is A,B,C,D,E,F,G or H or any combination to specify the axis or axes.
m = 0 SPM Mode Disable
m = 1 Enable SPM Mode, Clear trippoint and QS error
M = 2 Error condition occurred
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
1.4
Command Line
Yes
OPERAND USAGE:
_YSn contains the status of the mode for the specified axis.
RELATED COMMANDS:
"
"
Error Magnitude
"
"
Step Drive Resolution
"
Step Motor Resolution
"
Encoder Resolution
"
Error Correction
EXAMPLES:
1. Enable the mode:
:YSH=1
2. Query the value:
:0,0,0,0,0,0,0,1
Response shows H axis is enabled
Notes:
1.
Ensure the axis is energized and stable before enabling Stepper Position Maintenance mode.
Error will result from enabling YS and then energizing the axis.
2.
Assigning a value of 1 to an axis after encountering an error condition will clear the trippoint
and will also clear QS.
3.
A value of 2 is automatically assigned to YS when the position error exceeds three full motor
steps. See the QS command for more details.
