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Motion Control Cards with special PIEZO (Ceramic) Motor Functions |
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Page 3 of 3 Command Usage: The usage of the new custom commands is consistent with the usage of the standard commands. For instance the SetpzKp command has the exact usage, in terms of packet format, parameter range and return codes, as the SetKp command. The only difference would be the OpCode specified in the command packet.
All values for the new commands will default to zero. The Op-Codes associated with the new commands are listed below. COMMAND
| OPCODE
| DESCRIPTION
| GetpzOffetPos
| 0x35 | Servo offset used when not settled and position error is positive
| | GetpzOffsetNeg | 0x3D | Servo offset used when not settled and position error is negatiove
| | GetzIntLimStl | 0x04
| integration limit (32-bit) used when settled
| | GetpzWindow | 0x05 | Location of primary Window boundary
| GetpzKp
| 0x08 | Proportional term when position error is in primary window.
| | GetpzKi | 0x09 | Integral Term “ “
| | GetpzKd | 0x0A | Derivative Term “ “
| GetpzKvff
| 0x0B
| Velocity Feed Forward Term “ “
| GetpzKaff
| 0x0C
| Acceleration Feed Forward Term “ “
| GetpzIntLim
| 0x0D
| Integration Limit “ “
| GetpzKdPeriod
| 0x0E
| Derivative Time “ “
| GetpzWindow2
| 0x4E
| Location of secondary Window boundary
| GetpzKvff2
| 0x4F
| Velocity Feed Forward Term when position error is in secondary window.
| SetpzOffsetPos
| 0x16
| See above for corresponding “Get” command.
| SetpzOffsetNeg
| 0x17
| “ “
| SetzIntLimStl
| 0x18
| “ “
| SetpzWindow
| 0x19
| “ “
| SetpzKp
| 0x1B
| “ “
| SetpzKi
| 0x1C
| “ “
| SetpzKd
| 0x1F
| “ “
| SetpzKvff
| 0x20
| “ “
| SetpzKaff
| 0x23
| “ “
| SetpzIntLim
| 0x24
| “ “
| SetpzKdPeriod
| 0x28
| “ “
| SetpzWindow2
| 0x29
| “ “
| SetpzKvff2
| 0x2E
| “ “
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This table is for information only. All commands (DLL) use the description as it appears in the column COMMAND.
The following commands have been replaced by the new opcodes and are no longer available: Set/GetBiQuadCoefficient
| 0x04/0x05
| Set/GetAuxiliaryEncoderSource
| 0x08/0x09
| Set/GetSPIMode
| 0x0A/0x0B
| Set/GetPWMFrequency
| 0x0C/0x0D
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If any of the above commands are required please ask for a modified version. Date: 11 August 2008
servo Halbeck GmbH & Co. KG
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Newsflash
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Motion Control Cards with Special PIEZO (Ceramic) Motor Functions Motion Control Chips with special functions to compensate PIEZO Motor behaviour Products Names: - POSYS® 1800-PIEZO Series
- POSYS® 1900-PIEZO Series
Description: The POSYS® 1800-PIEZO and POSYS® 1900-PIEZO are motion control cards (PC-104, PCI-bus) for servo and stepper motors and provide one to four axes of motion. The functionality of these series has been significantly improved by using a special motion control chip with enhanced PIEZO (Ceramic) control functions. It is now possible to compensate the special behaviour of PIEZO (Ceramic) motors like for example stiction. |
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