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ice:commands:servo

Servo Controller Command Set

List of commands for the ICE-SC1 Servo Controller. Please see Common Commands to all ICE Slave Boards for generic daughter board commands.

<function=ICEfunc|0=PHASE?&2=58&3=TBD> Returns the phase shift (in degrees) on the dither signal modulating the laser current.1) <html></div></html>

<function=ICEfunc|0=PHASE&1=F:PHASE:23&2=22.5&3=TBD> Sets the phase shift to PHASE (in degrees) on the dither signal modulating the laser current. Returns the output of the command Phase?2) <html></div></html>

<function=ICEfunc|0=DitherA?&2=32&3=TBD> Returns the amplitude of the dither on the laser current. Output is integer from 0-255.3) <html></div></html>

<function=ICEfunc|0=DitherA&1=I:AMP:35;&2=35&3=TBD> Sets the amplitude of the current modulation to AMP. AMP is an integer ranging from 0 – 255. Command returns the output of the command DitherA?4) <html></div></html>

<function=ICEfunc|0=Dither?&2=On&3=TBD> Returns the status of the dither on the laser current (on or off).5) <html></div></html>

<function=ICEfunc|0=Dither&1=A:On/Off:On;&2=On&3=TBD> Enables or disables the dither on the laser current. Valid arguments are On or Off. Returns the output of the command Dither?.6) <html></div></html>

<function=ICEfunc|0=ReadVolt&1=I:CHANNEL:4&2=4.234&3=38> Returns the voltage measured on channel CHANNEL (in volts). The channels refer to:

  1. Servo Out
  2. Second Integrator Output
  3. DC Error
  4. Error Input Monitor
  5. First Integrator Output
  6. +2.5V Ref
  7. Aux Out
  8. Ground

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<function=ICEfunc|0=Servo?&2=On&3=TBD> Returns the status of the servo (on or off). <html></div></html>

<function=ICEfunc|0=Servo&1=A:On/Off:On;&2=Off&3=TBD> Turns on the servo (engages the integrators). Returns the output of the command Servo?. <html></div></html>

<function=ICEfunc|0=AUXSRVO?&2=On&3=TBD>Returns the status of auxiliary servo. Note, auxiliary servo only engaged when main servo is engaged, if AUXSRVO? is On when SERVO? is Off, Auxiliary servo will engage when the main servo is engaged.<html></div></html>

<function=ICEfunc|0=AUXSRVO&1=A:On/Off:Off&2=Off&3=TBD>Turns on or off the auxiliary servo. Returns the AUXSRVO? command. <html></div></html>

<function=ICEfunc|0=DCOffst?&2=-2.345&3=TBD> Returns DC offset (in volts) applied to the error signal. <html></div></html>

<function=ICEfunc|0=DCOffst&1=F:OFFSET:2.340;&2=2.342&3=TBD> Sets the DC offset (in volts) applied to the error signal to OFFSET. Returns the output of the command DCOffst?. The range of the values is set by the DCMODE command. In mode 1, the range is -5V to 5V. In mode 2, the range is -10V to 0V. In mode 3, the range is 0V - 10V. <html></div></html>

<function=ICEfunc|0=Gain?&2=25&3=TBD> Returns Servo Gain. Range is from -33 to 30 in steps of 1 dB. <html></div></html>

<function=ICEfunc|0=Gain&1=I:GAIN:24;&2=24&3=TBD> Sets the Servo Gain. Range is from -33 to 30 dB in steps of 1 dB. Returns the output of the command Gain? <html></div></html>

<function=ICEfunc|0=OpOfst1?&2=129&3=45> Returns First Integrator Op-Amp’s Offset Voltage adjustment value. Range is 0-255, with 128 being in the middle. This should not need adjustment and generally should be left at its default value. <html></div></html>

<function=ICEfunc|0=OpOfst1&1=I:OFFSET:142;&2=142&3=46> Sets the First Integrator Op-Amp’s Offset Voltage adjustment value. This should be factory set, but it controls the DC Error Input voltage that the servo locks to (should be 0V) OFFSET is an integer from 0-255. Returns the output of the command OpOfst1?. <html></div></html>

<function=ICEfunc|0=OpOfst2?&2=129&3=45> Returns Second Integrator Op-Amp’s Offset Voltage adjustment value. Range is 0-255, with 128 being in the middle. This should not need adjustment and generally should be left at its default value. <html></div></html>

<function=ICEfunc|0=OpOfst2&1=I:OFFSET:142;&2=142&3=46> Sets the Second Integrator Op-Amp’s Offset Voltage adjustment value. This should be factory set, but it controls the DC Error Input voltage that the servo locks to (should be 0V) OFFSET is an integer from 0-255. Returns the output of the command OpOfst3?. <html></div></html>

<function=ICEfunc|0=SvOffst?&2=2.341&3=TBD> Returns Servo Offset voltage (in volts). When the servo is engaged, this voltage is the starting voltage that the servo integrates from. <html></div></html>

<function=ICEfunc|0=SvOffst&1=F:OFFSET:-1.232;&2=-1.23&3=TBD> Sets the Servo Offset voltage (in volts) to OUTPUT when the servo is turned off. When the servo is engaged, this voltage is the starting voltage that the servo integrates from. Returns the output of the command SvOffst?. <html></div></html>

<function=ICEfunc|0=AxOffst?&2=2.341&3=TBD> Returns Aux Servo Offset voltage (in volts). When the aux servo is engaged, this voltage is the starting voltage that the aux servo integrates from. <html></div></html>

<function=ICEfunc|0=AxOffst&1=F:OFFSET:-1.232;&2=-1.23&3=TBD> Sets the Aux Servo Offset voltage (in volts) to OFFSET when the servo is turned off. When the aux servo is engaged, this voltage is the starting voltage that the servo integrates from. Returns the output of the command AxOffst?. <html></div></html>

<function=ICEfunc|0=DataChn?&2=2&3=TBD> Read Data Channel Mode. There are 3 modes for the Data Channel: 

   Mode 1: Record DC Error
   Mode 2: Record Error Input
   Mode 3: Record DC Error and Error Input

Note: In Mode 3, the ramp records two channels of data instead of one, doubling the amount of data stored. <html></div></html>

<function=ICEfunc|0=DataChn&1=I:CHN_MODE:3&2=3&3=TBD> Sets the Data Channel Mode. See DataChn? for more details Returns the output of the command DataChn?. <html></div></html>

<function=ICEfunc|0=RampSwp?&2=5.72&3=TBD> Reads the sweep range (in volts) for the ramp. <html></div></html>

<function=ICEfunc|0=RampSwp&1=F:VOLTAGE:2.64&2=2.65&3=TBD> Writes the sweep range (in volts) for the ramp. Range is from -10V to +10V. Returns the output from the command RampSwp?.

Note: RampSwp value is rounded and truncated to match range of the servo offset. <html></div></html>

<function=ICEfunc|0=RampNum?&2=100&3=TBD> Returns the number of data points to be acquired during the ramp. Number of data points is also the number of steps for the ramp.

Note that the amount of bytes stored by the ramp is 2*RampNum. The amount of bytes stored set how much data needs to be read back via the ReadBlk command.

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<function=ICEfunc|0=RampNum&1=I:NUMBER:100&2=100&3=TBD> Sets the number of data points to be acquired during the ramp. Number of data points is also the number of steps for the ramp. Number of data points to calculated by the following formula:

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<function=ICEfunc|0=RampRun&2=Busy&3=TBD> Begins ramping the servo output and taking data according to the values set for RampInc, RampBeg, and RampEnd as described above. Data can be retrieved with the ReadBlk command. Board will not respond to any new commands while taking data. Returns status of execution of the ramp, either Busy or Finished. Returns fault if ramp is misconfigured. See RampNum? for details. At end of ramp, servo output is set to SVOffst? value. <html></div></html>

<function=ICEfunc|0=I1POLE?&2=5&3=TBD>Returns the first integrator pole position. Value of 0 is proportional only. Values 1-16 correspond to poles from 30 Hz to 175 kHz. <html></div></html>

<function=ICEfunc|0=I1POLE&1=I:POLE:3&2=3&3=TBD>Sets the first integrator pole position and returns the output of the command I1POLE? See I1POLE? description for details on pole values. <html></div></html>

<function=ICEfunc|0=I2POLE?&2=7&3=TBD>Returns the second integrator pole position. Value of 0 is proportional only. Values 1-16 correspond to poles from 300 Hz to 1.75 MHz. <html></div></html>

<function=ICEfunc|0=I2POLE&1=I:POLE:6&2=6&3=TBD>Sets the second integrator pole position and returns the output of the command I2POLE? See I2POLE? description for details on pole values. <html></div></html>

<function=ICEfunc|0=DPOLE?&2=12&3=TBD>Returns the differential pole position. Value of 0 is no differential. Values 1-16 correspond to poles from 100 Hz to 10 MHz. <html></div></html>

<function=ICEfunc|0=DPOLE&1=I:POLE:6&2=6&3=TBD>Sets the differential pole position and returns the output of the command DPOLE? See DPOLE? description for details on pole values. <html></div></html>

<function=ICEfunc|0=DCMODE?&2=On&3=TBD>Returns the DC Offset Mode used to set the DC Offset. There are 3 modes:

  1. DC Offset Range: -5V - 5V
  2. DC Offset Range: -10V - 0V
  3. DC Offset Range: 0V - 10V

<html></div></html> <function=ICEfunc|0=DCMODE&1=I:MODE:2&2=2&3=TBD>Sets the DC Offset Mode. See DCMODE? for details on the different modes. Changing the DC Offset Mode will change the DC Offset and should be re-set via the DCOFFST command after running the DCMODE command. <html></div></html>

<function=ICEfunc|0=AUXMODE?&2=3&3=TBD>Returns the Gain Mode for the auxiliary servo. Values or 1, 2 or 3, corresponding to low, medium and high.<html></div></html>

<function=ICEfunc|0=AUXMODE&1=I:MODE:2&2=2&3=TBD>Sets the Gain Mode of the auxiliary servo. Valid values are 1, 2 or 3, corresponding to low, medium and high.<html></div></html>

<function=ICEfunc|0=AUXGAIN?&2=15&3=TBD>Returns the gain (0-255) for the auxiliary servo loop. The scale is linear, not log, so 4 is four times more gain than 1 and 250 is 20% more than 200. The total loop gain is set by both the AUXGAIN and the AUXMODE. Each increment in AUXMODE increase that gain by ~250, or nearly the fully range of the AUXGAIN setting.<html></div></html>

<function=ICEfunc|0=AUXGAIN&1=I:GAIN:54&2=54&3=TBD>Sets the Aux Gain and returns the output from the AUXGAIN? command. See AUXGAIN? for more details.<html></div></html>

<function=ICEfunc|0=AUXINVT?&2=On&3=TBD>Returns whether the auxiliary servo loop inverts its input or not.<html></div></html>

<function=ICEfunc|0=AUXINVT&1=A:INVERT:Off&2=Off&3=TBD>Sets whether or not to invert the input to Auxiliary servo loop. INVERT should be “On” or “Off”.<html></div></html>

<function=ICEfunc|0=INVERT?&2=On&3=TBD>Returns whether the Error In signal is inverted.<html></div></html> <function=ICEfunc|0=INVERT&1=A:INVERT:Off&2=Off&3=TBD>Sets whether or not to invert the Error Input signal. INVERT should be “On” or “Off”.<html></div></html>

<function=ICEfunc|0=AUXMIN?&2=-5.1&3=TBD>Returns the minimum voltage that the auxiliary servo can output. Voltage output is coerced to this value if output tried to go lower than this value. <html></div></html> <function=ICEfunc|0=AUXMIN&1=F:VOLTAGE:2.415&2=2.4&3=TBD>Sets the minimum value the auxiliary servo can go. See AUXMIN? for more details.<html></div></html>

<function=ICEfunc|0=AUXMAX?&2=On&3=TBD>Returns the maximum voltage that the auxiliary servo can output. Voltage output is coerced to this value if output tried to go higher than this value. <html></div></html>

<function=ICEfunc|0=AUXMAX&1=F:VOLTAGE:7.215&2=7.2&3=TBD>Sets the maximum value the auxiliary servo can go. See AUXMAX? for more details.<html></div></html>

<function=ICEfunc|0=SVOMIN?&2=-5.1&3=TBD>Returns the minimum voltage that the servo can output. Voltage output is coerced to this value if output tried to go lower than this value. <html></div></html> <function=ICEfunc|0=SVOMIN&1=F:VOLTAGE:2.415&2=2.4&3=TBD>Sets the minimum value the servo can go. See SVOMIN? for more details.<html></div></html>

<function=ICEfunc|0=SVOMAX?&2=On&3=TBD>Returns the maximum voltage that the servo can output. Voltage output is coerced to this value if output tried to go higher than this value. <html></div></html>

<function=ICEfunc|0=SVOMAX&1=F:VOLTAGE:7.215&2=7.2&3=TBD>Sets the maximum value the servo can go. See SVOMAX? for more details.<html></div></html>

<function=ICEfunc|0=JUMPSRVO&1=A:JUMP:On&2=On&3=TBD>Used for debugging and loop optimization only, toggles the Servo Offset from its current value to -1 times its current value. For use when servo engaged and monitor how servo responds to challenge of jumping the servo offset. Argument is either “On” or “Off”.<html></div></html>

1) , 2) , 3) , 4) , 5) , 6)
Not implemented as of November, 2017
ice/commands/servo.txt · Last modified: 2021/08/26 14:26 by 127.0.0.1