Page History

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• If Df==-1 (position is negative closed position), then
  • Let Dr=Cs-N2, such that Dr is positive if the motor is slipping (missing steps while traveling in the negative direction)
  • If Df >= Dl (drift limit), then
    • Set Ud=1, indicating a drift limit violation in the negative positive direction
  • EndIf
• EndIf
• Return

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