Analog I/O Status Screen

The Analog I/O Status Screen displays various analog measurements and commands including:

- Measured current flow per motor coil
- Commanded PWM power amp settings
- Commanded Destinations of each axis
- Measured Position of each axis
- Status and Mode of each axis

If one or two SnapAmp option boards are installed, the top portion of the screen displays SnapAmp Status. Current measurement for each full bridge (motor coil), Power supply voltage for each side, Temperature of each side, and PWM setting for each PWM.

Small bar charts on the screen also provide an indication of current in each axis, see below. The graph displays a green bar from 0 to 100% full which corresponds to 0 to max continuous current for the output stage. Currents higher than 100% show a full red bar.

PWM's

The state of each SnapAmp's four PWM (Pulse Width Modulators) are displayed in the top right area of the status screen. The PWM's are connected to Full Bridge Drivers to allow direct control of various motors or loads. See the description of KMotion's Power Amplifiers and PWM's for details. The PWM's may operate independently to drive a full bridge driver, or they may function as a pair of PWM's connected to a pair of Full Bridge drivers to drive a 4 phase stepper motor or a 3 phase load.

PWMs may be assigned to an axis by changing the OutputChan0 and OutputChan1 parameters for an axis. Only consecutive even and odd PWMS may be paired to drive a 3 or 4 phase phase load.

There are several possible modes for each PWM channels:

- Normal Independent

- Recirculating Independent

- 3 Phase - paired

If a PWM channel is operating in Normal mode, the PWM channel status will show the value in counts (-255 ... +255) and the percent of full scale.

If a PWM channel is operating in Recirculating mode, the PWM channel status will show the value in counts (-511 ... +511), followed by an "R", and the percent of full scale.

A PWM channel may also operate in current loop mode. In current loop mode the PWM duty cycle is automatically adjusted in order to maintain the commanded current. The PWM channel status will show the command value in counts (-4095 ... +4095), followed by a "C", and the percent of full scale.

If a pair of PWM channels is operating in 3 Phase mode, the PWM channel status will show the value in counts (-230 ... 230) after the first PWM channel and the phase angle in degrees after second PWM channel.

The example status below shows PWM channels 0 and 1 operating in 3 phase mode, PWM channels 2-5 operating in Normal mode, and PWM channels 6 and 7 operating in Recirculating mode.

Dest

This section of status displays the currently commanded destination for each axis. The Destination is the theoretically desired position for the axis. If a move is in progress, this is the current point along the desired trajectory of the motion. The units are in position units for the axis.

Position

This section of status displays the currently measured position for each axis. Depending on the input mode for the axis, this position may represent an encoder position, a resolver position, or an absolute position based on an ADC reading. An axis operating as an open loop microstepper mode may have no position sensor at all. In this case the position value is meaningless and ignored.

Enable

Displays whether an axis is enabled or not. Clicking on the Enabled checkbox will enable the axis if disabled or disable the axis if enabled.

Modes

Displays the currently configured input and output modes for each axis. The input mode determines what technique is used to determine the axis's measured position. The output mode determines how the axis's output should be driven.

Valid input modes are:

- Encoder

- ADC

- Resolver

- User Input

Valid output modes are:

- Microstep

- DC Servo

- 3PH Servo

- 4PH Servo

- DAC Servo

- Step Dir

Done

Displays whether an axis operating as an independent axis (not a coordinated motion axis) has completed its last trajectory.