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68 Agilent E1538A Enhanced Frequency/Totalize/PWM SCP
• <mode> is used to select the stepping mode. the allowable values are:
Related error message:3127, "Undefined E1538 Stepper motor mode."
• The range of position values that an algorithm can send for the full-speed
("SF") mode is 0 to 65,535.
• The range of position values that an algorithm can send for the
half-speed ("SH") mode is 0 to 32,767.
• <min_vel> is specified in steps per second and is the beginning step rate
at the start of the 14 or 38 step ramp-up to <max_vel>. The <min_vel>
should be a step rate that the motor can achieve from a standstill without
missing a step. <min_vel> can range from 128 to 40,000 (64 to 40,000
for half speed "SH" modes).
• <max_vel> is specified in steps per second and is the maximum step rate
that will be sent to the motor after ramp-up is complete. <max_vel> can
range from 128 to 40,000 (64 to 40,000 for half speed "SH" modes).
• The increase in step rate from <min_vel> to <max_vel> will occur in 14
steps for a 2-Channel configuration, and will occur in 38 steps for a
4-channel configuration. Figure 25 shows the relationship between
these parameters. A related error message: 3120, "Minimum velocity
parameter must not exceed maximum velocity parameter."
• Four-phase stepper motors that require less than 100mA phase current
Table 3. Stepping <mode> values
<mode> string Stepping Mode Speed Channel
MFSFC2 Full Full 2
M
FSFC4 Full Full 4
MFSHC2 Full Half 2
M
FSHC4 Full Half 4
M
HSFC2 Half Full 4
Figure 31. Relationship of
min_vel
, and
max_vel