forked from epics_driver_modules/motorBase
jsullivan-anl
109 lines
2.4 KiB
Plaintext
109 lines
2.4 KiB
Plaintext
Digital Piezo Controller
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(c) 2003 Physik Instrumente GmbH
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Model: E-710
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Version: V5.023
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RS232:
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9600,8,1,N (default)
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Commands:
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<axis#><command>[<arg>]</n>
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Where axis# starts at 1.
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* NO reply from motion commands
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* Multiple command delimiter = ","
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Reply: <reply string></n>
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Position Resolution: 0.0001 micrometers
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Effective Resolution: 0.01 (holding position)
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Setup:
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Position Error Tolerance Setting (Memory address 64)
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This parameter controls the "On Target" flag (GI8) that is
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used to determine DONE. If the tolerance is too large the
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motorRecord will see DONE before the drive has reached
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it target position.
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Set the tolerance parameter to the retry deadband.
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<axis>DP0,64DR<#.###> - sets RAM
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<axis>DP-1,64DR<#.###> - sets EERAM <used on power cycle>
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example:
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1DP0,64DR0.01 - set tolerance to 0.01 um
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1DP-1,64DR0.01
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=================== MOTION =================
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ENABLE Servo
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<axis#>SL[0/1]
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MOVE Absolute
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<axis#>MA<position>
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MOVE Relative
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<axis#>MR<position>
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GO HOME
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<axis#>GH
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SET VELOCITY
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<axis#>SV<velocity>
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Units: um/ms or urad/ms (float or int)
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SET P-Term (Proportional Gain)
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<axis#>SP<p>
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STOP MOTION ?
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<axis#>MR0 /* Zero relative move */
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<axis#>SV0 /* Zero velocity */
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=================== STATUS =================
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READ Version Info
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GI
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Return:
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Digital Piezo Controller V5.023<\n>
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(c) 2003 Physik Instrumente GmbH<\n>
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READ Commanded position
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<axis#>MA
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Response: +0000.0000
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READ Feedback position
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<axis#>TP - tell position
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Response: +0000.0000
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Units: micrometer or microradian
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<axis#>TS - tell sensor
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READ Velocity (programmed)
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<axis#>TV
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Response: 0.000000e+1
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READ Status:
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<axis#>GI8
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Status Byte:
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Bit 0: 0 = Servo on, 1 = Servo off
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Bit 1: 0 = Piezo voltage inside limits,1 = Piezo voltage at limit
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Bit 2: 0 = On Target: Position error smaller than tolerance 1 = Position error too large
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Bit 3: 0 = Target position higher than low limit, 1 = Target Position at low limit
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Bit 4: 0 = Target position smaller than high limit, 1 = Target position at high limit.
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Bit 5: 0 = AutoZero is not running 1 = AutoZero is running
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Bit 6: not used
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Bit 7: 0 = no error, 1 = last sent command not accepted, error during command processing.
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[The bit is reset by this command.]
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