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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.

PHASE？

Arguments: 

No Arguments Taken

Example: 

PHASE？  
58

I2C Command Number: TBD


Description

Returns the phase shift (in degrees) on the dither signal modulating the laser current.1) <html></div></html>

PHASE

Arguments: 

[Float] PHASE

Example: 

PHASE 23 
22.5

I2C Command Number: TBD


Description

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>

DitherA？

Arguments: 

No Arguments Taken

Example: 

DitherA？  
32

I2C Command Number: TBD


Description

Returns the amplitude of the dither on the laser current. Output is integer from 0-255.3) <html></div></html>

DitherA

Arguments: 

[Int] AMP

Example: 

DitherA 35  
35

I2C Command Number: TBD


Description

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>

Dither？

Arguments: 

No Arguments Taken

Example: 

Dither？  
On

I2C Command Number: TBD


Description

Returns the status of the dither on the laser current (on or off).5) <html></div></html>

Dither

Arguments: 

[ASCII] On/Off

Example: 

Dither On  
On

I2C Command Number: TBD


Description

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>

ReadVolt？

Arguments: 

[Int] CHANNEL

Example: 

ReadVolt？ 4 
4.234

I2C Command Number: 38


Description

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

<html></div></html>

Servo？

Arguments: 

No Arguments Taken

Example: 

Servo？  
On

I2C Command Number: TBD


Description

Returns the status of the servo (on or off). <html></div></html>

Servo

Arguments: 

[ASCII] On/Off

Example: 

Servo On  
Off

I2C Command Number: TBD


Description

Turns on the servo (engages the integrators). Returns the output of the command Servo?. <html></div></html>

AUXSRVO？

Arguments: 

No Arguments Taken

Example: 

AUXSRVO？  
On

I2C Command Number: TBD


Description

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>

AUXSRVO

Arguments: 

[ASCII] On/Off

Example: 

AUXSRVO Off 
Off

I2C Command Number: TBD


Description

Turns on or off the auxiliary servo. Returns the AUXSRVO? command. <html></div></html>

DCOffst？

Arguments: 

No Arguments Taken

Example: 

DCOffst？  
-2.345

I2C Command Number: TBD


Description

Returns DC offset (in volts) applied to the error signal. <html></div></html>

DCOffst

Arguments: 

[Float] OFFSET

Example: 

DCOffst 2.340  
2.342

I2C Command Number: TBD


Description

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>

Gain？

Arguments: 

No Arguments Taken

Example: 

Gain？  
25

I2C Command Number: TBD


Description

Returns Servo Gain. Range is from -33 to 30 in steps of 1 dB. <html></div></html>

Gain

Arguments: 

[Int] GAIN

Example: 

Gain 24  
24

I2C Command Number: TBD


Description

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>

OpOfst1？

Arguments: 

No Arguments Taken

Example: 

OpOfst1？  
129

I2C Command Number: 45


Description

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>

OpOfst1

Arguments: 

[Int] OFFSET

Example: 

OpOfst1 142  
142

I2C Command Number: 46


Description

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>

OpOfst2？

Arguments: 

No Arguments Taken

Example: 

OpOfst2？  
129

I2C Command Number: 45


Description

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>

OpOfst2

Arguments: 

[Int] OFFSET

Example: 

OpOfst2 142  
142

I2C Command Number: 46


Description

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>

SvOffst

Arguments: 

No Arguments Taken

Example: 

SvOffst  
2.341

I2C Command Number: TBD


Description

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>

SvOffst

Arguments: 

[Float] OFFSET

Example: 

SvOffst -1.232  
-1.23

I2C Command Number: TBD


Description

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>

AxOffst？

Arguments: 

No Arguments Taken

Example: 

AxOffst？  
2.341

I2C Command Number: TBD


Description

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>

AxOffst

Arguments: 

[Float] OFFSET

Example: 

AxOffst -1.232  
-1.23

I2C Command Number: TBD


Description

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>

DataChn

Arguments: 

No Arguments Taken

Example: 

DataChn  
2

I2C Command Number: TBD


Description

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>

DataChn

Arguments: 

[Int] CHN_MODE

Example: 

DataChn 3 
3

I2C Command Number: TBD


Description

Sets the Data Channel Mode. See DataChn? for more details Returns the output of the command DataChn?. <html></div></html>

RampSwp

Arguments: 

No Arguments Taken

Example: 

RampSwp  
5.72

I2C Command Number: TBD


Description

Reads the sweep range (in volts) for the ramp. <html></div></html>

RampSwp

Arguments: 

[Float] VOLTAGE

Example: 

RampSwp 2.64 
2.65

I2C Command Number: TBD


Description

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>

RampNum？

Arguments: 

No Arguments Taken

Example: 

RampNum？  
100

I2C Command Number: TBD


Description

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.

<html></div></html>

RampNum

Arguments: 

[Int] NUMBER

Example: 

RampNum 100 
100

I2C Command Number: TBD


Description

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:

<html></div></html>

RampRun

Arguments: 

No Arguments Taken

Example: 

RampRun  
Busy

I2C Command Number: TBD


Description

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>

I1POLE？

Arguments: 

No Arguments Taken

Example: 

I1POLE？  
5

I2C Command Number: TBD


Description

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>

I1POLE

Arguments: 

[Int] POLE

Example: 

I1POLE 3 
3

I2C Command Number: TBD


Description

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>

I2POLE？

Arguments: 

No Arguments Taken

Example: 

I2POLE？  
7

I2C Command Number: TBD


Description

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>

I2POLE

Arguments: 

[Int] POLE

Example: 

I2POLE 6 
6

I2C Command Number: TBD


Description

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>

DPOLE？

Arguments: 

No Arguments Taken

Example: 

DPOLE？  
12

I2C Command Number: TBD


Description

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>

DPOLE

Arguments: 

[Int] POLE

Example: 

DPOLE 6 
6

I2C Command Number: TBD


Description

Sets the differential pole position and returns the output of the command DPOLE? See DPOLE? description for details on pole values. <html></div></html>

DCMODE？

Arguments: 

No Arguments Taken

Example: 

DCMODE？  
On

I2C Command Number: TBD


Description

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>

DCMODE

Arguments: 

[Int] MODE

Example: 

DCMODE 2 
2

I2C Command Number: TBD


Description

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>

AUXMODE？

Arguments: 

No Arguments Taken

Example: 

AUXMODE？  
3

I2C Command Number: TBD


Description

Returns the Gain Mode for the auxiliary servo. Values or 1, 2 or 3, corresponding to low, medium and high.<html></div></html>

AUXMODE

Arguments: 

[Int] MODE

Example: 

AUXMODE 2 
2

I2C Command Number: TBD


Description

Sets the Gain Mode of the auxiliary servo. Valid values are 1, 2 or 3, corresponding to low, medium and high.<html></div></html>

AUXGAIN？

Arguments: 

No Arguments Taken

Example: 

AUXGAIN？  
15

I2C Command Number: TBD


Description

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>

AUXGAIN

Arguments: 

[Int] GAIN

Example: 

AUXGAIN 54 
54

I2C Command Number: TBD


Description

Sets the Aux Gain and returns the output from the AUXGAIN? command. See AUXGAIN? for more details.<html></div></html>

AUXINVT？

Arguments: 

No Arguments Taken

Example: 

AUXINVT？  
On

I2C Command Number: TBD


Description

Returns whether the auxiliary servo loop inverts its input or not.<html></div></html>

AUXINVT

Arguments: 

[ASCII] INVERT

Example: 

AUXINVT Off 
Off

I2C Command Number: TBD


Description

Sets whether or not to invert the input to Auxiliary servo loop. INVERT should be “On” or “Off”.<html></div></html>

INVERT？

Arguments: 

No Arguments Taken

Example: 

INVERT？  
On

I2C Command Number: TBD


Description

Returns whether the Error In signal is inverted.<html></div></html>

INVERT

Arguments: 

[ASCII] INVERT

Example: 

INVERT Off 
Off

I2C Command Number: TBD


Description

Sets whether or not to invert the Error Input signal. INVERT should be “On” or “Off”.<html></div></html>

AUXMIN？

Arguments: 

No Arguments Taken

Example: 

AUXMIN？  
-5.1

I2C Command Number: TBD


Description

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>

AUXMIN

Arguments: 

[Float] VOLTAGE

Example: 

AUXMIN 2.415 
2.4

I2C Command Number: TBD


Description

Sets the minimum value the auxiliary servo can go. See AUXMIN? for more details.<html></div></html>

AUXMAX？

Arguments: 

No Arguments Taken

Example: 

AUXMAX？  
On

I2C Command Number: TBD


Description

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>

AUXMAX

Arguments: 

[Float] VOLTAGE

Example: 

AUXMAX 7.215 
7.2

I2C Command Number: TBD


Description

Sets the maximum value the auxiliary servo can go. See AUXMAX? for more details.<html></div></html>

SVOMIN？

Arguments: 

No Arguments Taken

Example: 

SVOMIN？  
-5.1

I2C Command Number: TBD


Description

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>

SVOMIN

Arguments: 

[Float] VOLTAGE

Example: 

SVOMIN 2.415 
2.4

I2C Command Number: TBD


Description

Sets the minimum value the servo can go. See SVOMIN? for more details.<html></div></html>

SVOMAX？

Arguments: 

No Arguments Taken

Example: 

SVOMAX？  
On

I2C Command Number: TBD


Description

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>

SVOMAX

Arguments: 

[Float] VOLTAGE

Example: 

SVOMAX 7.215 
7.2

I2C Command Number: TBD


Description

Sets the maximum value the servo can go. See SVOMAX? for more details.<html></div></html>

JUMPSRVO

Arguments: 

[ASCII] JUMP

Example: 

JUMPSRVO On 
On

I2C Command Number: TBD


Description

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: 2023/12/06 20:44 by Christiana Sasser