MPI 04.00 Reference >> mpiMotor

MPIMotorStepper

Definition

typedef struct MPIMotorStepper {
    MPI_BOOL             loopback;   /* TRUE = FPGA pulse feedback, 
                                        FALSE = encoder feedback */
    MPIMotorStepperPulse pulseA;
    MPIMotorStepperPulse pulseB;
    double               pulseWidth; /* output pulse width  (sec), 
                                     10^(-7) < pulseWidth < 10^(-3) */
} MPIMotorStepper;

Change History: Modified in the 03.03.00

Description

MPIMotorStepper is a structure used to configure Stepper Motor parameters.

To use pulse outputs, you will need to:

  1. Configure the motor type for STEPPER.
  2. See the motor's stepper pulse width. Make sure it meets the drive's requirments and is not smaller than 2x the minimum pulse period.
  3. Enable the motor's stepper loopback if there is no encoder feedback.
  4. Configure the motor's stepper pulseA and pulseB types for STEP, DIR, CW, CCW, QUADA, or QUADB.
  5. Select the motor I/O's config type for pulseA and pulseB. This will route the pulseA/B signals to the node's digital outputs.
loopback† enables Step Loopback feature. When enabled, step output pulses counted to generate Actual Position. When disabled, external feedback device is required to generate actual position.
pulseA Structure used to configure Step Pulse A.
pulseB Structure used to configure Step Pulse B.
pulseWidth† sets width of Step pulse. Valid values range from a minimum width of 0.1 usec to maximum width of 25.5 usec.
† - If you attempt to change this value and hardware is not connected, an error message will be returned.

See Also

MPIMotorStepperPulse | MPIMotorStepperPulseType