Digital Piezo Controller
(c) 2003 Physik Instrumente GmbH

Model: E-710

Version: V5.023

RS232:
	9600,8,1,N (default)

Commands:
	<axis#><command>[<arg>]</n>
	Where axis# starts at 1. 

   * NO reply from motion commands
   * Multiple command delimiter = "," 

Reply:    <reply string></n>


Position Resolution:  0.0001 micrometers
Effective Resolution: 0.01 (holding position)

Setup:
     Position Error Tolerance Setting (Memory address 64)
	This parameter controls the "On Target" flag (GI8) that is 
        used to determine DONE. If the tolerance is too large the 
	motorRecord will see DONE before the drive has reached 
        it target position. 

	Set the tolerance parameter to the retry deadband. 

	<axis>DP0,64DR<#.###>  - sets RAM 
	<axis>DP-1,64DR<#.###> - sets EERAM <used on power cycle>

	example:
	1DP0,64DR0.01   - set tolerance to 0.01 um
	1DP-1,64DR0.01

=================== MOTION =================
ENABLE Servo
	<axis#>SL[0/1]


MOVE Absolute
	<axis#>MA<position>

MOVE Relative
	<axis#>MR<position>

GO HOME
	<axis#>GH

SET VELOCITY
	<axis#>SV<velocity>

	Units: um/ms or urad/ms (float or int)

SET P-Term (Proportional Gain)
	<axis#>SP<p>

STOP MOTION ?
	<axis#>MR0 	/* Zero relative move */
	<axis#>SV0      /* Zero velocity */

=================== STATUS =================

READ Version Info
	GI
	Return: 
		Digital Piezo Controller   V5.023<\n>
                (c) 2003 Physik Instrumente GmbH<\n>


READ Commanded position
	<axis#>MA

		Response: +0000.0000

READ Feedback position 
	<axis#>TP 	- tell position
		Response: +0000.0000
		Units: micrometer or microradian
	<axis#>TS       - tell sensor


READ Velocity (programmed)
	<axis#>TV

		Response: 0.000000e+1

READ Status:
	<axis#>GI8

	Status Byte:
		Bit 0: 0 = Servo on, 1 = Servo off 
                Bit 1: 0 = Piezo voltage inside limits,1 = Piezo voltage at limit 
                Bit 2: 0 = On Target: Position error smaller than tolerance 1 = Position error too large 
                Bit 3: 0 = Target position higher than low limit, 1 = Target Position at low limit 
                Bit 4: 0 = Target position smaller than high limit, 1 = Target position at high limit. 
                Bit 5: 0 = AutoZero is not running 1 = AutoZero is running 
                Bit 6: not used 
                Bit 7: 0 = no error, 1 = last sent command not accepted, error during command processing. 
                       [The bit is reset by this command.]