PI PiezoWalk E-712 - Page 26

User Manual
E712T0010, valid for E-712.N1, E-712.1AM, E-712.1AN, .2AN, .3AN
CMo, BRo, 10/31/2024
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6. Calculate ∆x
cycle
with
100
altneu
cycle
x
x
x
−
=∆
INFORMATION
The step size varies with the selected driving mode. In nanostepping mode, the step size at maximum
amplitude of the shearing voltages usually is 30 to 40% smaller than in full-step mode. Therefore you should
adapt the value of the PiezoWalk Step Size parameter whenever you switch between full-step and
nanostepping mode. Otherwise the maximum velocity may not be reached.
PiezoWalk Min Step Cycle Time
The PiezoWalk Min Step Cycle Time (t
Z_min
, parameter ID 0x07011900) is the minimum time per step cycle. The
value is rounded to a multiple of the sample time.
∆t
z_min
can be calculated as follows:
max
min_
v
x
t
cycle
z
∆
=∆
where
v
max
is given by the application requirements of the system
∆x
cycle
is the feed caused by one step cycle
INFORMATION
It is recommended that the value of ∆t
z_min
is greater than the value of the Servo Update Time parameter (ID
0x0e000200) multiplied by 100. Otherwise the E-711/E-712 system may not be able to provide the required
clamping and shearing voltages.
It is not recommended to change the value of the PiezoWalk Min Step Cycle Time parameter. Normally, this
value is preset according to the electrical and mechanical restrictions of the system.