Pulse Configuration

Configuring the Motion Controller to Use Pulse Outputs

Set the Amp Disable Action to NONE.
The motor type cannot be set to STEPPER unless the Amplifer Disable Action it is set to NONE.
Configure the motor Type for STEPPER.

Set the motor's Stepper Pulse Width.
When configuring the Step Pulse Width, make sure the maximum commanded velocity does not generate a pulse period that is less than 2x the pulse width. For example, if the maximum velocity is 100 kHz, the pulse width must not be greater than 5 microseconds.

Maximum Velocity	Maximum Pulse Width
5 MHz	100 ns
2.5 MHz	200 ns
1 MHz	500 ns
500 kHz	1 µs
250 kHz	2 µs
100 kHz	5 µs
50 kHz	10 µs
25 kHz	20 µs
10 kHz	50 µs
...	...
500 Hz	1 ms

Enable the motor's Stepper Loopback if there is no encoder feedback.
When using pulse outputs, the quadrature encoder inputs are still available. The position feedback information is not used to correct the pulse motor's position, but can be used by an application to monitor the actual position of the motor. If the encoder feedback is not in a one-to-one ratio with the step motor resolution, be sure to disable the position error limit action. If you do not have an encoder, the feedback can be simulated by enabling the motor's loopback feature.

Configure the motor's Stepper Pulse A and Pulse B Ttypes.
Pulse A and Pulse B determine the types of output pulses to be sent to a pulse drive. The most common examples are listed in the table below.

Desired Output	Pulse A	Pulse B
Step and Direction	STEP	DIR
Clockwise and Counter-clockwise	CW	CCW
Quadrature	QUAD_A	QUAD_b

Select the motor I/O's Configuration Type for Pulse A and Pulse B signals.
This will route Pulse A and Pulse B signals to the node's digital outputs.
(Optional) Set the control algorithm to NONE for optimum firmware performance.

Pulse Configurations in Motion Console

Motor Object

Type	Stepper (default is Servo)
Amp Disable Action	None (default is Cmd = Act)
Step Pulse Width	Value is determined by pulse drive specifications
Step Loopback	Enable for open loop, Disable (default) for encoder feedback
Pulse A Type	Configure for STEP, DIR, CW, CCW, QUADA, or QUADB
Pulse A Invert	Enable or Disable
Pulse B Type	Configure for STEP, DIR, CW, CCW, QUADA, or QUADB
Pulse B Invert	Enable or Disable

In the screenshot above (SynqNet-RMB-10V2), you can configure Motor 0, XCVR A-F to be either Pulse A or Pulse B. Normally, two bits must be configured as Pulse A and Pulse B.

I/O Bit N Type

Pulse A or Pulse B
(routes Pulse A signal to node's digital output)
-OR-
(routes Pulse B signal to node's digital output)

Filter Object

Algorithm

None (for optimum firmware performance)

MPI Example

See the sample application stepCfg.c for details.

MPX Example

Controller.Axis(0).MotorType = mpiMotorTypeStepper 
'AmpDisableAction set automatically when setting MotorType 
Controller.Axis(0).StepPulseWidth = 0.000001 '1 us 
Controller.Axis(0).StepLoopback = True 
Controller.Axis(0).StepPulseAType = mpiStepperPulseTypeStep 
Controller.Axis(0).StepPulseBType = mpiStepperPulseTypeDir
Controller.Axis(0).IoConfig(mpiMotorIo0) = mpiIoConfigPulseA 
Controller.Axis(0).IoConfig(mpiMotorIo1) = mpiIoConfigPulseB 
Controller.Axis(0).FilterAlgorithm = mpiFilterAlgorithmNone