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 8 / 40
Phone +49 721 4846-0, fax +49 721 4846-1019, e-mail info@pi.ws, www.pi.ws
3.4 Driving Modes—Overview
Different driving modes are provided by the PiezoWalk® firmware of the E-711/E-712 system:
Full-step mode:
o Stepping motion
o Travel range limited by the length of the runner
o Maximum velocity
o Maximum holding force
Nanostepping mode:
o Stepping motion
o Travel range limited by the length of the runner
o Steady motion with uniform velocity, the velocity is about 60% of the velocity in full-step mode
o Low-vibration motion
Analog mode:
o Shearing motion
o Travel range limited by the maximum possible shearing displacement
o High dynamics
o Picometer precision in open-loop operation
While analog mode is always available, you have to select if you want to use full-step or nanostepping mode for
stepping motion. The decision depends on your application and is made via the PiezoWalk Driving Mode
parameter (ID 0x07001A00) which can be changed with the SPA or SEP commands.
3.5 Full-Step Mode
With this kind of stepping motion, the piezo voltages for the shearing and clamping components change in an
asynchronous manner. During the clamping phase the shearing voltages do not change and vice versa. This means
that the motion of the runner is interrupted during the clamping phases.
Fig. 4: Full-step motion, shown with a NEXLINE® drive
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