VXI VT1538A user manual Sensfuncvolt @100

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motor phase channel group can not be split across SCPs.

The algorithm sends new position values to the first channel in a motor-group. The algorithm reads the current position value from the second channel in the motor-group.

Example of full step, full speed, 4 phase stepper motor operation:

*RST

preset count to 0, full step, half speed, 4 channel, min speed 64s/s,

max speed 256s/s (in half speed mode,	actual speed=half specified speed)
SOUR:FUNC:STEP 0,MFSFC4,128,512,(@144:147)
SENS:FUNC:VOLT (@100)	channel 0 reads voltage

Algorithm reads voltage a t channel 00, multiplies it by 100 to derive the value to send to the motor. Only when the expected motor position (previously sent to ch44) and the actual motor position (read from ch45) agree, is a new motor position is sent to ch44.

ALG:DEF ’ALG1’,’static float MotorDrive;MotorDrive = ( I100 * 100 ) - 512;

/5.12V =0 MtrDrv /
If ( !(O144 - I145) ) O144 = MotorDrive;’
INIT	start algorithm

The following figures show the step waveforms for the five built-in step modes.

Figure 26. Full Step Mode, Full and Half Speed, 2-Channel

38 Agilent E1538A Enhanced Frequency/Totalize/PWM SCP

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Contents VT1538A VXI Technology, Inc Introduction Support Resources User’s and Scpi Programming Manual Page Agilent E1538A Enhanced Frequency/Totalize/PWM SCP About this ManualIntroduction Identifying the Plug-on Important Setting Configuration Switches Switch Location and Example SettingsInstallation Connecting To The Terminal ModuleRecommended Signal Connections E1419A Option 11 Terminal Module ConnectionsInput and Output Characteristics Recommended Connections and Voltage LimitsVRS Mode Input Operation SCP Channels 0 & 1 only E1538A Input/Output CharacteristicsProgramming With Scpi Commands Shows the VRS mode input characteristicsConfiguring I/O Direction Setting the Input Threshold LevelDetermining the Input Threshold Level Inppol NormReading Static Digital State To set channels 40 through 43 to input digital statesTotalize Positive or Negative Edge State Changes Init SENSDATACVT? @44About Period Frequency Measurements SENSDATACVT? @45 SENSDATACVT? @45 Agilent E1538A Enhanced Frequency/Totalize/PWM SCP Agilent E1538A Enhanced Frequency/Totalize/PWM SCP Sense Quadrature Position Sensfuncquad 0,@148,149RPS Example of Rotational Velocity Sense Sense Rotational VelocityControlling Output Polarity Output Static Digital StateVariable Width Pulse Per Trigger Variable Width Pulse Train PWM Variable Frequency Fixed Width Pulse Train FM Variable Frequency Square-Wave Pulse Train Rotationally Positioned Pulse Output Rotational Pulse Command Usage Algupdate Init Example of variable position, preset width RST Sensfuncrvel 12,MISS,@140Variable Position, Width Preset by Time Example of variable width by angle, preset position Example of variable width by time, preset position Fixed Position, Variable Width by AngleALGSCALAR’ALG1’,’Width2’,.010 Stepper Motor Control Use the command Stepping mode valuesSensfuncvolt @100 Full Step Mode, Full and Half Speed, 4-Channel Page RST and *TST important Scpi Command Reference Command Syntax For newer Units onlyCommand Syntax For newer Units only Discussed Parameters INPutPOLarityINPutPOLarity? CommentsLevel can be set to a resolution INPutTHResholdLEVelINPutTHResholdLEVel? OUTPutPOLarity OUTPutPOLarity?Send with VXIplug&play Function hpe14XXcmdReal64Q SENSeFREQuencyAPERture Related Commands Sensfreqaper SENSeFREQuencyAPERture?SENSeFREQuencyLIMitLOWer Init Related Commands INPutPOLarity SENSeFREQuencyLIMitLOWer?SENSeFUNCtionCONDition SENSeFUNCtionFREQuency SENSeFUNCtionPERiodSENSeFUNCtionPWIDth SENSeFUNCtionQUADratureSENSeFUNCtionRVELocity RPS SENSeFUNCtionTOTalize SENSePERiodAPERture SENSePERiodAPERture? SENSePERiodLIMitUPPerInit SENSePERiodLIMitUPPer? SENSePERiodMODERelated Commands SENSePERiodMODE SENSePERiodMODE?SENSePERiodNPERiods SENSePERiodNPERiods? SENSePERiodRANGeUPPerSend with VXIplug&play Function hpe14XXcmdInt32Q SENSeTOTalizeRESetMODE SENSePERiodRANGeUPPer?RST Condition is Send with VXIplug&play Function hpe14XXcmd SENSeTOTalizeRESetMODE? SOURceFMSTATeSOURceFMSTATe? Send with VXIplug&play Function hpe14XXcmdInt16QSOURceFUNCtionRPULse SOURceFUNCtionSHAPeCONDition SOURceFUNCtionSHAPePULSeSOURceFUNCtionSHAPeSQUare SOURceFUNCtionSTEPperComments Send with VXIplug&play Function hpe14XXcmd Relationship of minvel, and maxvel SOURcePULMSTATe Usage See Stepper Motor Control onSOURcePULMSTATe? SOURcePULSePERiodSOURcePULSePERiod? SOURcePULSeWIDThSOURcePULSeWIDTh? SOURceRPULsePOSitionANGLe33,554,430 to 33,554,430 SOURceRPULsePOSitionANGLe? SOURRPULseVARTypeUsage SOURRPULseVARType? SOURceRPULseWIDThANGLeSOURceRPULseWIDThANGLe? SOURceRPULseWIDThTIME00000787 to SOURceRPULseWIDThTIME? Specifications General SpecificationsFrequency Measurement Pulse Width Measure Rotational Pulse Source