PI PiezoWalk E-712 - Configuration Example

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 30 / 40
Phone +49 721 4846-0, fax +49 721 4846-1019, e-mail info@pi.ws, www.pi.ws
maximum possible shearing displacement (which can be achieved with the maximum amplitude of the shearing
voltages V
Dmax
– V
Dmin
).
The control-loop parameters applied differ depending on the driving mode:
 Since the internal control value for PiezoWalk®-driven axes and PiezoWalk® drives is a velocity, for
stepping motion in full-step mode and nanostepping mode only the P-term (Servo-Loop P-Term, ID
0x07000300) is used (proportional control).
 For analog mode motion only the I-term (Servo-Loop I-Term, ID 0x07000301) is used (integral control).
When the driving mode is changed, the appropriate control-loop parameters are applied automatically.
Recommendations for control-loop parameter settings:
 In full-step mode, the P-term should be set to a smaller value than in nanostepping mode. Otherwise
constant switching between full-step and analog driving mode may occur.
 P-terms may be in the range of 1 to 1000.
 When working with PIMikroMove, the I-term can be calculated automatically. See “Servo-Controller
Dynamic Tuning” in the E-712 user manual (PZ195E) for details.
7.3 Configuration Example
Normally, your E-711/E-712 system comes preconfigured, and you do not have to perform the adjustment
described in this example. Primarily, this example is given to establish understanding for the configuration
principles of systems with PiezoWalk® drives.
In this example, the E-711/E-712 system is to be set up according to the following conditions:
 Type of PiezoWalk® drive: NEXLINE®
 Axis 1 is configured as follows:
o Measured by sensor channel 1 (of 3) only; an incremental sensor is used; sensor parameters are
already set correctly
o Driven by PiezoWalk channel 1 only
 PiezoWalk channel 1 is configured as follows:
o Piezo amplifier channel 1 is assigned to the first pair of shearing components
o Piezo amplifier channel 2 is assigned to the second pair of shearing components
o Piezo amplifier channel 3 is assigned to the first pair of clamping components
o Piezo amplifier channel 4 is assigned to the second pair of clamping components
 The maximum velocity is to be set to 500 µm/s.
 The servo update time of the system is 40 µs (Servo Update Time parameter, ID 0x0e000200).
 Limiting the drive acceleration is not necessary
 PiezoWalk channel 1 is to be driven in nanostepping mode
 For the PiezoWalk channel, linearizing the shearing segments of the piezo actuators is not necessary