motor phase channel group can not be split across SCPs.
The algorithm sends new position values to the first channel in a
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 */ |
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If ( !(O144 - I145) ) O144 = MotorDrive;’ |
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INIT | start algorithm |
The following figures show the step waveforms for the five
