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 32 / 40
Phone +49 721 4846-0, fax +49 721 4846-1019, e-mail info@pi.ws, www.pi.ws
Set shearing-to-clamping ratio; ¼ of the step cycle time
will be used for the clamping phases; used in full-step
Set minimum step cycle time to 8 ms
Set PiezoWalk Open-Loop Velocity to 250 µm/s and reference the sensor assigned to axis 1. Set PiezoWalk Driving
Mode to nanostepping mode.
Limit open-loop velocity of PiezoWalk channel 1 to 250
µm/s (system is not tuned yet)
Set driving mode to nanostepping mode
Reference all sensors assigned to axis 1 via a reference
motion (Note that this is no AutoZero procedure!)
Check if referencing was successful
Read current axis position, drive 100 step cycles, read current axis position again and calculate ∆x
cycle
with
to obtain the value to be set for PiezoWalk Step Size.
Read current position of axis 1; can be done with POS?
since axis 1 is measured by sensor channel 1 and driven by
PiezoWalk channel 1 only.
Response: 1=-1.307289e+001
Position value is -13.07289 µm
Perform 100 step cycles in positive direction with
PiezoWalk channel 1
Read current position of axis 1
Response: 1=3.442412e+002
Position value is 344.2412 µm
Set the step size for PiezoWalk channel 1 to 3.57 µm since
this is the calculated position difference per cycle
Calculate the minimum cycle time from the requested maximum velocity (500 µm/s) and the given step size (3.57
µm). Check if the calculated value is greater than the recommended threshold 100*t
a
(t
a
= Servo Update Time)
with
..00004.010000714.0
500
57.3
max
min_
koss
s
µm
µm
v
x
t
cycle
z
→∗≥==
∆
=∆
Adjust PiezoWalk Min Step Cycle Time; the value will be
rounded internally to 7.16 ms = 179 * t
Save all parameter settings to non-volatile memory
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