Optima DMC-1xxx and DMC-18x2 Command Reference
YR
i
217
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.
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.
