Software Overview
Contents
1. 2D circle NanoCapture are otch Freg 8 1 3 6 000 AE t 3 E Current Axis Action Simple Waveform y pe Sn a a 2 11 000 SAN H 4 10 000 0 000 4 Waveform Sine Triangle Square Trapez 1 000 8000 1 1 ae 1 E Ampliada lini 10 000 0 00 99 96 199 92 349 86 499 80 Time ms 5 6 000 2nd axis for circle Axis 2 Y y 1 000 E Frequency Hz J 20l 2500 pts 10 000 rrr i i i BRB amp 8 000 J A S 2000 Report Type Actual Position Repon DDL 0 000 gt i E MANE disabled y tialis wn A 1 A t 1 000 1 1 1 1 1 disabled A Initialize Clear Setup 25 of 4 000 1 000 1 400 3 800 6 200 8 60011 000 2 000 o l Axis 1 Simulation um o 6 0007 3 A x 0 000 1 000 E a a A 0 00 99 96 199 92 34986 499 80 Is generator running b Time ms Number of Cycles infinite 50 cycles Previous Slide Previous Chapter Next Chapter Next Slide PI 1 3 Wave Generation more complex waveforms e More specific waveform configuration possible e mport data files e g csv PIMikroMove e Save and load definition files NanoCapture e Simulation w o connected controller NanoCapture e Store wave definitions in HostMacros and execute them by a single click PIMikroMove External link flash movie running in browser window More Prev2. Connecting to a PI Controller from MATLAB E Use the MATLAB classes provided for the PI GCS DLLs to easily interface to the controller a SCS IB ho eit x Oo Ss Connection Cat PI GCE Controller Cob Co6b7 ConnectRsz32 1 115 lt 00 E Quick access to all GCS functions of the DLL like absolute motion s Absolute Motion Target 12 Coea Mov 1 Target While C667 sMoving 1 pause lO 1 Loot 2 13 end E Direct data import into MATLAB workspace for immediate analysis 35 Motion Analysis channels Le start 1 number 120 data C867 QIRAR channels start number fiqurel1li plot datal 1 datal e Previous Slide Previous Chapter Next Chapter Next Slide PI 2 3 Motion Performance Data Recorded by Controller Output E E E oO Position of Stage during Motion Previous Slide Previous Chapter Next Chapter Next Slide PI 2 3 Interactive Use of the Controller Class E You can use the Controller class in the Command window interactively Previous Slide Previous Chapter Next Chapter Next Slide PI 2 4 Sample Code for Programmers E Adjustable for Any Application Open Source Sample Code e For LabVIEW programmers e For C CF VB Delphi if C843_Sample_Application_ a_forpicture vi Block Diagram File Edit Operate Tools Browse Window Help PI 2 2 Lat balat irt Application Font _ 8x stax 69 a a o
3. can be added with minimum programming effort PC Linux Controllers Positioners Controllers for Piezo Motors ae USB TOPAP Analog AS232 GPIB 7 gt Controllers for Pieza Trigger VO Piezo Maror Dirmen Nanopositioning Stages g Actuators amp Stages GCS A gt Controllers for VoiceCoil PEE a E Softwa re AE Micropositioners Servo amp Stepper Motors a pts a e Platform Independent Bi Controllers for t Hexapod 6 Axis Stages Complex Multiaxis Systems be am Communication between Pl components is based upon a universal command 221 GCS General Command Set lt decouples hardware and software and is used for all drive systems Previous Slide Previous Chapter Next Chapter Next Slide PI 4 GCS What does it mean for the User E Unified command syntax E Unified error codes E Unified parameter numbers E ONE LabVIEW driver set E Unified DLL objects E ONE host software E P Stages dat parameter data base E Unified manuals E Unified setup procedure E Complete system tests Previous Slide Previous Chapter Next Chapter Next Slide PI 4 GCS is a Time Saver for Programmers E With GCS the development of custom application programs is simplified and less prone to errors because the commands for all supported devices are identical in syntax and function Piezocontroller See E Motorcontroller Through the use of the GCS command set with its convenient functions
4. di Previous Slide Overview Previous Chapter Find Then s f 7 dema Lem Next Chapter Dees ira das A re Pisy i Esa Sic simigis el rel Par pc meian od A Smeaan e Eno ra y A A IN a EJ m e Se ee ia pip parres bi p ee eee pi i pham eS ES Mo error during initialization Move axis 1 to position 1 5 mm wait for i motion to stop and query for current position E onn thes H A Fab SE a en 0 Digital Piezocontroller E 712 6 axes Previous Slide Previous Chapter Next Chapter Next Slide Mo error during initialization ka bc Move axis 1 to postion 1 5 um wait for A motion to stop and query for current position 2 onn Axes FI E 517 eos E error out Ed Config Be i ale Setup ken Digital Piezocontroller E 517 3 axes Previous Slide Previous Chapter Next Chapter Next Slide 2 1 Fast and Convenient LabVIEW Programming File Edt Operate Tools Browse Window Help 1 No error during initialization Positive MPL E MOODOOODOOODODOOOOOOoOoOd Move axis 1 to position 1 5 mm wait for o motion to stop and query for current position E Onn Axes ak A bono Fabc ile Boshi status fy li F Je ai PL O Pl mov Pena RA THS a L wWusit PCI Motor Controller Board C 843 4 axes Previous Slide Previous Chapter Next Chapter Next Slide Mo error during initialization Move axis Z
5. stored is done by the DLL in the array dPositions E Good for programming sequences because the Close the connection to the controller E7XX_CloseConnection ild functions return value arrays and no strings Previous Slide Previous Chapter Next Chapter Next Slide 2 2 3 Asynchronous Data Transfer int main int ild tIndex CommPort 1 iBaudRate 115200 int iRecordChannellds 1 2 3 double dData Table char szHeader 1024 Connect the controller using e g RS232 ild E7XX_ConnectRs232 iCommPort iBaudRate Initialize data transfer of 10000 values for the record channels 1 2 and 3 E7XX_qDRR ild iRecordCannellds 3 1 10000 amp dDataTable szHeader 1024 Go on with your specific program sequences Find our how many values are already read form the controller where ilndex is the current index in the data Table dDataTable Index E7ZXX GetAsyncBufferindex ild Close the connection to the controller E7XX_CloseConnection ild PI E Data are read and stored asynchronously by DLL threads E Allows reading large data tables without blocking the application E Get data from the DLL when needed Previous Slide Previous Chapter Next Chapter Next Slide Pl 2 3 Pl is Connections Partner of The Mathworks MATLAB Enabled MathWorks Partner Previous Slide Previous Chapter Next Chapter Next Slide PI 2 3
6. the orientation phase and application development process is Significantly accelerated Previous Slide Previous Chapter Next Chapter Next Slide PI 5 Good Documentation is the Key E Comprehensive manuals for quick start up and detailed answers for professional programmers e Hardware User Manual e Manuals for all software components Tana Coed Conners tna ems kz E Full online help available for E E e PI Host Software Axes bo mae All axes Sone a ee seas e PI GCS LabVIEW Driver Set En mar esto Pipi ee to commis ar n ri Axis identifier error in POS i Returns postion information actual or target position depending on system Ey Free Manual Downloads Free Software E PE Vaid or C 043 C 044 C 040 C300 C 6204005 E 516 E 016 F 206 Downloads for PI Customers SL Co T AI axes TRUE then Asis etc be FALSE tune ion value is the actual position of the a E 244 IF All axes TRUE then Axis identifier can be FALSE Returned External link will open browser window Previous Slide Previous Chapter Next Chapter Next Slide Pl 6 Updates Upgrades No Compatibility Issues Updates upgrades or added hardware controller or mechanics How much effort will it take to adapt my application programs e Basically none e Because all PI controllers use the same GCS code General Command Set all motion systems are always compatible PC Linux Control
7. Error je stop TF Pl error in 0 84 pi E qn ConFia Config Setup Setur stop RP Boolean IF stop is TRUE stop Configuration Setup by reference int maing int ild int iCommPort 1 int iBaudRate 115200 double dPositions 2 char szAxes 1 2 ff Connect the controller using e g RS232 ild E7XX_ConnectRs232 iCommPort iBaudRate ff Send the E7XX_qPOSQ to querry the position of axis 1 and 2 E7XX_qPOS ild szAxes dPositions 2 ff do your programming sequences with the positions stored j in the array dPositions ff Close the connection to the controller E7XX_CloseConnection ild Previous Slide Previous Chapter Next Chapter Next Slide PI 3 Supported Operating Systems E Microsoft Windows Windows 2000 Windows XP Windows VISTA Windows 7 E Plus from PI Linux support no ActiveX based software e Linux libraries e Linux LabVIEW drivers E Plus from PI 64 bit components e 64 bit components for Microsoft VISTA 64bit Previous Slide Previous Chapter Next Chapter Next Slide Pl 4 GCS What does it mean for the User E PI s General Command Set GCS was designed for maximum compatiblity of all motion systems and hassle free updates E Universal Command Set simplifies commissioning and programming E GCS operation is independent of the controller or drive principle used Different positioning systems can be run together from one software or new systems
8. Is consisting of Libraries LLBs J Communication lb for all supported POS interfaces including analog control w HyperBit Support llb programming support for common tasks Different command LLBs supporting full controller functionality e Unified icon and user interface connector panel All open source except Configuration Setup vis e including GUI programs like scanning routines graphical representation wave generator samples debugging routine merge tool terminal application configuration software etc e with Online help window for each VI Previous Slide Previous Chapter Next Chapter Next Slide PI 2 1 Special Routines Available in LabVIEW Excerpt 1D ru iig san PI ey La Mamia Alegre ee MI crecer Leen E gt cae sete tpa ere arts te Smee ine ee ne e a Ss oe eS a DE E Automated Align P I oer es m esme aa s pw erame ee ee a iT uis vis uis us u e ads E showr Sore Load_ xrrr _ Cria vi Bami le p E Eiee re j E ee Seg Geel nore ss E bejme rm E MARA Cut Jaleo ps et E F Id pa dee ets EOS Ps ma TES fie el AN A MBR ES 2 0 ee ee A A pra pees pres E JE y oes A y q i e ie E A ie or Ter maree i SS ee eae eee te eee Se A LL SS T fens ba mre rma ma ee imn ma a ann re ee e e e ee m E i e a uy Pame i H p Ei g a a See feet ema aa CATA i dq de ae ae am
9. PI Software Critical Motion Control System Component Co a tl paman E ii aa k cr T hji o i lei phi E P rc ha rl hi A NA LAA el a et da Pi Pr a SGM See ee re rar ee rn oe m e Click on Slide to start presentation nsiderations Before You Buy PI Wave Generator Tool E 753 COM1 od FFT de ip sa p cursor 1 y eurent Position of axi z Record Channels m Cursor 1 x 0 00000 s m Current Position of axist Y 0 00000 co m Cursor 2 Xx 0 00000 o Me alfa of axis ion Error of axis1 Physical units 1 oO Y 0 00000 r Diff Cur 1 Cur 2 gt dx 0 00000 Physical units Wave Table Editor Data Recorder DDL Settings wave Generator Record table 1 m Record settings Select the record source axis 1 y Select the record option Current Position of axis y m Trigger settings Select the trigger source Defaut zj Enter the trigger value fa Physik Instrumente E 753 1CD 00000001 00 00 01 0E During the wave generator output data is recorded in record tables on the controller You can configure the recording and determine the tables to be read afterwards controller Settings not supported by your y dy 0 00000 dyjdx 0 00000 Configuration valide For the next recording tables 1234 Data
10. Recorder 1 Record source Axis 1 Record option Current Position of axis Trigger source Default Trigger Value 0 Data Recorder 2 Record source Axis 1 Record option Target Position of axis gt Pl Nanopositioning System Precision Mechanics Control Electronics Software Software E Enables the access to the full performance of the motion control system E Can make the life of the programmer easy or a nightmare E Should be independent of mechanics controller hardware to allow hassle free upgrades in the future PC Linux Controllers Positioners Controllers Tor Piezo Motors Pirms Piezo Nanopositioners mo A Borer et ae a USB TCPAP Analog a AS232 GPIB Controllers for Piezo a 7 m Trigger VO Manepositioning Stages Controllers for VoiceCoil im d Software ae Motorized r PS Servo amp Stepper Motors 9 Sing a Platform Independent Piezo Moator Oriven Actuators amp Stages Hexapod 6 Axis Stages Communication between Pl components based upon a universal command set GCS General Command Set lt decouples hardware and software and is used for all drove systems Previous Slide JP Previous Chapion Overview Bee Soe PI Overview For Non Programmers 1 PI Host Software Start up Operation w o Programming More Macro Commands for Simple Automation For Programmers 2 Programming an Application can be As Easy As More 3 Supported Operating
11. Systems More For Everyone GCS One for all Runs Digital and Analog Interfaces Good Documentation is Key Firmware amp Software Updates with Maximum Compatibility Support and Software Quality What to Expect Working with Different Positioning Systems O O N OY UW B amp B Disclaimer Previous Slide Previous Chapter _ Finish Presentation Next Chapter Next Slide PI 1 PI Host Software Good Software E guides the user through the installation E includes quick start programs and simple system tests E offers Online Help E Plus from Pl e Macro Commands Allow Simple Automation Tasks e n addition to terminal support and ASCII protocol Previous Slide _ Previous Chapter Bee Se PI 1 PI Host Software PI MikroMove pat CAT P Lati deves ee CL PM Latter ere i Ma amen N Y iiy Moving the NanoWorid www piws Physik Instrumente PI GmbH amp Co KG I 1 1 Observe the Full CD Setup with 1 2 Simple Automation Tasks System Behavior UM Customizable Without Programming MA Installation Routine Ge Corfiy Joos Yow tep Curentads NP 1X 2Y IROZ 42 SRoK 6 RotY Cion w w i it Getting Started Quickly 1 3 Fast Basic And Advanced 1 4 Software based Wave Definition MSA System optimization LEGS Previous Sli
12. apter Next Slide PI 8 Adding Changing Controllers E PI s General Command Set GCS was designed for maximum compatiblity of all motion systems E Adding another PI controller or exchanging one controller with another Independent of motion principle causes no or very little programming effort PC Linux Controllers 0 f Positioners Controllers for Prezo Motors issue A anata een ta Piezo Nanopositioners De ed ee a So e ee ee et See e Serer e ira USB TCPAP Analog si AS232 GPIB Controllers for Piezo 2 Trigger VO E pa Piezo Motor Driven Nanopositioning Stages A al y ae Actuators amp Stages GCS Controllers for VoiceCoil P de t he Software Motorized a z 3 Micropositioners servo amp Stepper Motors sing e ee Platform Independent i Controllers hor es Complex Multiaxis Systems E Communication between Pl components is based upon 4 universal command set GCS General Command Set lt decouples hardware and software and is used for all dre systems Previous Slide Previous Chapter Next Chapter Next Slide PI 9 Disclaimer E Physik Instrumente PI GmbH amp Co KG Auf der R merstrasse 1 D 76228 Karlsruhe Palmbach Tel 0721 4846 0 Fax 0721 4846 100 E Mail info pi ws Internet www pl ws E The following designations are protected company names or registered trademarks of third parties Microsoft Windows LabView E Pl Software Overview V1 0 0 AA _ Previo
13. controller by DLL e Good for reading large data tables without blocking the system Ctt CH VB NET VB Delphi Previous Slide Previous Chapter Next Chapter Next Slide PI 2 2 1 PI GCS is ASCII based gt sending and reading strings int main int ild int iCommPort 1 int iBaudRate 115200 char szAnswer 1024 Connect the controller using e g RS232 ild E7XX_ConnectRs232 iCommPort iBaudRate Send the command POS to query the position of axis 1 and 2 E7XX_GcsCommand ild POS 1 2 Read the answer of the controller E7XX_GcsGetAnswer ild szAnswer 1024 Good to display the printf s szAnswer answer such as ina 1 1 50 3 12 215 terminal program E Uncomfortable for programming sequences because each answer Close the connection to the controller E7XX_CloseConnection ild string has to be parsed Parsing the answer string szAnswer Previous Slide Previous Chapter Next Chapter Next Slide PI 2 2 2 Calling DLL Functions for Each Command W O Parsing Strings int main int ild int iCommPeort 1 int iBaudRate 115200 double dPositions 2 char szAxes 1 2 Connect the controller using e g RS232 ild E7XX_ConnectRs232 CommPort iBaudRate Send the E7XX_qPOS to querry the position of axis 1 and 2 E7XX_qPOS ild szAxes dPositions 2 E The string parsing do your programming sequences with the positions
14. de Previous Chapter Next Chapter Next Slide PI 1 1 Observe the System Behavior of the Positioning System E First approach System Behavior Observation e Nanocapture s Visual Panel command the axis open loop or closed loop and observe dynamically the sensor output and piezo voltages e Data recording and graphical reports for settling behavior resonance frequency Bode plots etc One Click Step Response One Click Frequency Response Waveform Generation Previous Slide Previous Chapter Next Chapter Next Slide PI 1 2 Simple Automation Tasks with Pl MikroMove Example How to save the current position and return later with one single click External link flash movie running in browser window More Example How to store different wave definitions and recall later with one Single click External link flash movie running in browser window More Previous Slide Previous Chapter Next Chapter Next Slide PI 1 3 Wave Generation E Quick and Easy Waveform Generation e Wave Generator offers synchronized operation of multiple axes with mathematically defined curves or with arbitrarily customized functions 1D based on segments sine scan line ramp PI NanoCapture TM Digital 6CH Piezo Controller Rev 2 17 1D sine triangle square trapez NanoCapture cw SS se iz ah wave cones in 11 000 A Els AHAH 10 000 E 8 000 F P Term 0067 ett 122 ea
15. ilter frequencies and slew rate limit e g when applying a higher load Ed a E cn PU a q Y A a a 3 Previous Slide Previous Chapter Next Chapter Next Slide 1 4 Piezo Stage Tuning E AutoZero support PI e All PI software components permit using the automatic closed loop range adjustment procedure called AutoZero E Dynamic tuning support e PI hostsoftware permit recording and displaying step and frequency responses e NanoCapture s Dynamic Tuner helps tuning the needed servo parameters with some embedded automatisms and offers the possibility to restore in one click the power up default values if something goes wrong i e strong vibrations FT ManoLaplure 14M Digital 60H Piero Controller Kev 2 11 Elo Gord Curaridada 0 r r r r a 1H PY DRE 2 Sho Ro Sere on rr Ej r r r E Curent Ads Action fan Value 3 We E Amplibede 50 000 Mensuremard Ans Cer Agg _ ACUTE ion Tire je B 350 0 1750 pts Adina 1d 5 __ lt __c_ e ea 20 a 50 a 1 Battling Tires ree EnF Fiaa Tima ma Foo 4 T l i 1 1 E i i 1 4 E 1 000 3456 6956 10454 1305 174 00 200 05 344 06 27064 314 57 3406 Tite jn Previous Slide Previous Chapter Next Chapter Next Slide Pl 2 For Programmers 2 1 Full LabVIEW Support for LabVIEW Programmers Enabled al MathWorks Partner i Connect the coniroller using e g RS232 ild Ef XX _ConnectRs232 iCommP or
16. ion pS Instrumente E 712 0000000000 00 03 00 03 Axes values Conn P Ps7Ro P 517RCD P 51 7 RCD Only for Interface USB Position ha 098510 49 021950 i 317627 0 000000 TCPAP settings TCPAP Search Host address name Port Board Use given settings Jocalhost 0000 gp USB settings USB Search SN Use given settings Joo00000000 error in movement range f o00 000000 ATZ successful Axes to ignore Digital Piezocontroller E 712 6 axes E 517_Configuration_Setup vi File Edit Operate Tools Browse Window Help Lie eln Interface settings Move settings Interface R5232 v System no si Only for Interface TCPAP TCPAP settings TCPAP Search Host address name rt Use given settings Jocalhost 50000 RS232 settings GPIB settings Portnumber Baudrate COM1 v 115200 y Bus Address de 13 Only for Only for Interface RS232 Interface GPIB Only for Interface USB USB settings Pol Board Conn Axes Online Identification Physik Instrumente E 517 107020624 01 056 Servo status WG running Position 50 759700 h 10 122300 p2 022500 movement range 50 000000 50 00000 h 0 000000 Previous Slide Previous Chapter Next Chapter Next Slide 2 1 GCS LabVIEW Driver Libraries GCS LabVIEW driver set consists of High Level VIs Low Level V
17. ious Slide Previous Chapter Next Chapter Next Slide PI 1 3 Advanced Trajectory Control E Visualization of the generated trajectory without an oscilloscop or any external device e Data recording through the controller e Reports of Target Real Position Error and others if supported from controller e 2D graph report possible i e circular motion NanoCapture Previous Slide Previous Chapter Next Chapter Next Slide PI 1 3 Advanced Trajectory Control E Tracking Errors e Controller option DDL reduces errors considerably e This feature and its optimization is fully integrated in the software e Example curves target real position and error of a sine wave E 2 5 Q D c e ae x XL 2 000 1 000 0 000 1 541 I I l l I I I I I 1 1 036 I I i l I i l l I 1 0 00 49 98 9996 149 94 199 92 249 90 299 88 349 86 399 84 449 82 499 80 0 00 4998 9996 149 94 199 92 249 90 299 88 349 86 399 84 449 82 499 80 Time ms Time ms Previous Slide Previous Chapter Next Chapter Next Slide PI 1 4 Piezo Stage Tuning E NanoCapture and PIMikroMove provide basic and highly advanced functions for operating digital piezo servo controllers E Fast and easy optimization of the operating parameters such as P I D terms notch f
18. lers Positioners Controllers for Piezo Motors cei a Piezo Nanopositioners E aa ME E AAA E E ai USB TCPAP Analog AS232 GPIB Controllers for Piero Trigger VO Piezo Motor Oriven Nanopositioning Stages Actuators amp Stages Controllers for VoiceCoil Software Motorized Servo amp Stepper Motors Micropositioners Platform Independent Controllers for L Complex Multiaxis Systems E Re y Communication between Pl components is based upon 4 universal command set GCS General Command Sen lt decouples hardware and software and is used for all dre systems Previous Slide Previous Chapter Next Chapter Next Slide Hexapod 6415 Stages Pl 6 Updates Upgrades No Compatibility Issues What about firmware updates for PI controllers e Firmware can be updated on site through the digital interface No need to send the controller in for service How to get software and firmware updates e Free updates are available for customers on the Pl download server Peet The Sera arene ov n External link will open browser window Epa p El EST Verdon History i Version adire of all mares Previous Slide Previous Chapter Next Chapter Next Slide PI 7 Application Support Free of Charge E What about help with setting up the system troubleshooting or application programming e PI engineers help you with your application Local support is available in most countries as well as quick factory di
19. rect support PI Europe USA China Japan E What about Remote Service eA number of PI controllers come with TCP IP interfaces and could even be serviced tuned through the internet PI customers Previous Slide Previous Chapter Next Chapter Next Slide Pl 7 Software and Quality Control E How can PI ensure the high quality of its software components e Pl is an ISO 9001 certified company Our internal software division consists of 10 specialists e PI s test environment contains 86 operating system versions including 64bit systems Windows 7 several Linux versions chinese XP arabian Windows to name a few e PI software is extensively tested Since the same source code is the basis of all PI motion systems it Is far more stable and robust than software individually programmed for every system Previous Slide Previous Chapter Next Chapter Next Slide PI 8 Adding Changing Stages with a Controller e Configuration is as easy as picking a new stage from a list e No need to find parameters through trial amp error No manual typing of parameters e Third party stages can be added amp used as if they were PI stages e D chip is available for piezo flexure positioning systems These come preconfigured and send all parameters to the controller once connected e n addition servo parameters can be changed online with guided tuning More Previous Slide Previous Chapter Next Ch
20. t iGaudRate A Send the E7XX_qPOS lo query the position of axis 1 and 2 E7XX_qPOS ild szAxes dPositions 2 ai 2 3 Full MatLab Support 2 2 Full Support for Text Y ur roan se for MatLab Users LA Based Programmers LM 2 4 Sample Code for All Programmers Previous Slide Previous Chapter Next Chapter Next Slide PI 2 1 GCS LabVIEW Driver Libraries E Plus from PI Not only sample VIs but Full GCS LabVI EW driver set E Supports all PI controllers independent of positioner hardware and controller interface USB TCP IP RS 232 and even analog One software driver can run piezo DC motor stepper hybrid and hexapod controllers together in one application E Quick and easy setup with special Configuration Setup VI executed only once e Gathers all necessary system information for LabVIEW including Communication parameters Connected controller s Types amp configurations of the connected stages axes e Performs all necessary initialization steps Previous Slide Previous Chapter Next Chapter Next Slide Pl 2 1 Initialization is just One Step Away Configuration Setup vi gt E712_Configuration_Setup vi File Edit Operate Tools Browse Window Help DEK Lle eln Interface settings Move settings RS232 settings Systemno Interface Timeout ny for ah usa 5000 enf Portnumber COM v 11 Baudrate 5200 h Only for Interface TCPAP Identificat
21. to postion 1 5 mm wat for i motion to stop and query for current position i Onn foes Fabc Position r p Hexapod System M 850 Previous Chapter Trie CE PI 2 1 Analog Signals Full Support for NI DAQ Boards E Support for PI Analog Piezo Controllers in conjunction with National Instruments DAQ data acquisition boards E LabVIEW VIs are identical to those for PI digital controllers e g set and read voltages and positions velocity etc E Patented Hyperbit technology is available under LabVIEW for these PI Analog Systems HyperBit increases the position resolution of the DAC board by several orders Previous Slide Previous Chapter Next Chapter Next Slide 5Devi aoo f fao l ey eto Ee J A se oe a Upper voltage limit 7 me Z i Move axis 1 to position 1 5 um wait for A CETO Rate k motion to stop and query for current position E psu a Jen IN o error during initialization onn Axes E m P Analog Piezo Controller System Previous Slide Previous Chapter Next Chapter Next Slide PI 2 2 Pl GCS General Command Set DLL s E 2 2 1 Simple Approach More e PI GCS is ASCII based gt send and read strings E 2 2 2 Convenient Approach More e Calling DLL functions for commands without parsing answer strings E 2 2 3 Advanced Approach More e Asynchronous data transfer initialized by the user e The data are read asynchronously from the
22. us Chapter RS ECEN
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