PIE712

If the attribute FlagMoveByMwaveGenerator is set to 1, moves can be executed using the waveform generator. This way the move time should be calculable. Figures 41.2 and 41.2 show the difference, actual move time - calculated move time, as a function of slew rate.

Here are some details about the move by WF generator:

• The current position is determined by "WOS?" (offset of the waveform genrator)
• The attribute WaveOutputCycles has to be 1.
• The WaveTableRate has to be in the range [1,100], the value of 20 seems to be a good choice.
• The moveTime is calculated using the amplitude (target - currPos) and the slew rate.
• TimePerPoint is updateRate (20 musecs) * WaveTableRate
• NoOfPoints is moveTime/timePerPoint
• NoOfPoints has to be in the range [10, 62464]
• SpeedUpPoints is 10 for NoOfPoints < 1000, 20 otherwise.

Example-1: move from 0 to 100 with slew = 1000 and WaveTableRate= 20.

...
PiezoPiCtrl::write_read_socket: sending  'WOS? 1<LF>'
PiezoPiCtrl::write_read_socket: received '1=4.240417e-001' 
PiezoPiCtrl::write_read_socket: sending  'SPA? 1 0x0E000200<LF>'
PiezoPiCtrl::write_read_socket: received '1 0xe000200=2.000000e-005' 
  get parameter from volatile memory, here updateRate
PiezoPiCtrl::write_socket: sent 'WSL 1 1<LF>'
  connect wave generator 1 to wave table 1
PiezoPiCtrl::write_read_socket: sending  'err?<LF>'
PiezoPiCtrl::write_read_socket: received '0' 
PiezoPiCtrl::write_socket: sent 'WAV 1 X LIN 239 9 0 219 0 10<LF>'
  Linear move: 
    SegmentLength 239
    Amplitude      99
    Offset          0
    Wavelength    219
    StartPoint      0
    SpeedUpDown    10
PiezoPiCtrl::write_socket: sent 'WGO 1 0x101<LF>'
  start output of wave generator 1 with "start at the endpoint of the last cycle"
...

Example-2: move from 0 to 10 with slew = 10 and WaveTableRate= 20.

...
PiezoPiCtrl::write_read_socket: sending  'WOS? 1<LF>'
PiezoPiCtrl::write_read_socket: received '1=4.206543e-001' 
PiezoPiCtrl::write_read_socket: sending  'SPA? 1 0x0E000200<LF>'
PiezoPiCtrl::write_read_socket: received '1 0xe000200=2.000000e-005' 
PiezoPiCtrl::write_socket: sent 'WSL 1 1<LF>'
PiezoPiCtrl::write_read_socket: sending  'err?<LF>'
PiezoPiCtrl::write_read_socket: received '0' 
PiezoPiCtrl::write_socket: sent 'WAV 1 X LIN 2395 9 0 2355 0 20<LF>'
PiezoPiCtrl::write_socket: sent 'WGO 1 0x101<LF>'
...

The figures 41.2 and 41.2 display the difference of the real and estimated move time as a function of the slew rate for the PiezoE712. The first figure gives the results for low slew rates (0.5 - 20) measured with a move distance of 5 units, the second for higher slew rates ( 20 - 1000) with a move distance of 100 units. Figure 41.2 displays the result for moves without wave generator.

Figure 41.4: With WG, real move time minus calc. move time as a function of slew rate, 0.5 - 20

Figure 41.5: With WG, real move time minus calc. move time as a function of slew rate, 20 - 1000

Figure 41.6: Without WG, real move time minus calc. move time as a function of slew rate, 20 - 1000