User Manual
E712T0010, valid for E-712.N1, E-712.1AM, E-712.1AN, .2AN, .3AN
CMo, BRo, 10/31/2024
Physik Instrumente (PI) SE & Co. KG, Auf der Römerstraße 1, 76228 Karlsruhe, Germany page 17 / 40
Phone +49 721 4846-0, fax +49 721 4846-1019, e-mail info@pi.ws, www.pi.ws
5 Axes and Channels
For successful operation of the E-711/E-712 system, you should familiarize yourself with the following features of
the device. Of particular importance is the distinction between logical axes and PiezoWalk channels since the
PiezoWalk® firmware of the E-711/E-712 system provides motion commands for both.
5.1 Logical Axes
A logical axis is an axis of a linear, orthogonal coordinate system and represents a basic direction of motion in the
firmware of the E-711/E-712 system. All closed-loop motion of the mechanics is commanded for logical axes
(MOV, MVR commands). In open-loop operation, an axis-related motion command is only available for analog
mode motion (SVA command) while stepping motion must be started with the PiezoWalk-channel-related OSM
command.
The number of axes is given by the Number Of System Axes parameter, ID 0x0E000B02.
Multiple PiezoWalk channels and multiple sensor channels can be involved in the motion of one logical axis, just
as one PiezoWalk channel or one sensor channel can participate in the motion of more than one logical axis.
5.2 PiezoWalk Channels
In the PiezoWalk® firmware of the E-711/E-712 system, a PiezoWalk channel represents a PiezoWalk® drive
connected to the controller. Open-loop stepping motion must be started with a PiezoWalk-channel-related
motion command (OSM).
The number of PiezoWalk channels is given by the Number Of PiezoWalk Channels parameter, ID 0x0E000B06.
The Number Of Configured PiezoWalk Channels parameter, ID 0x0E000B07, gives the number of PiezoWalk
channels which are configured correctly (the PiezoWalk® firmware internally checks several configuration settings
for PiezoWalk channels).
The piezo amplifier channels required for control of a PiezoWalk® drive are assigned to the corresponding
PiezoWalk channel via parameters (IDs 0x09000100, 0x09000101, 0x09000200, 0x09000201). Standard
PiezoWalk® drives require four piezo amplifiers (two clamping and two shearing voltages).
5.3 Piezo Amplifier Channels
In the firmware of the E-711/E-712 system, the piezo amplifier channels are a subset of the output signal
channels, representing the lines which carry the piezo voltages for the piezo actuators in the connected
PiezoWalk® drive(s). For the available amplifier hardware and the corresponding channels, see also
“Specifications and Product Descriptions” and “Accessible Items and Their Identifiers” in the E-712 User Manual
(PZ195E).
The Number Of Piezo Channels parameter, ID 0x0E000B04, gives the number of piezo amplifier channels.
Every piezo amplifier channel can be assigned once only, i.e. can only be dedicated to one of the four voltage
signals for one certain PiezoWalk channel.
The current voltage output of a piezo amplifier channel can be read with the VOL? command.
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