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commands:maintain [2018/01/09 23:07]
jon
commands:maintain [2019/04/18 23:33] (current)
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 +====== Command:​MAINTAIN (MA) ======
  
 +The Maintain command has a different function in case of a Piezo actuator then a motorised actuator
 +
 +--> MS2000 or RM2000 syntax#
 +
 +^Shortcut ​ |MA| 
 +^Format ​ |MAINTAIN [Axis] = [0 to 3]… |
 +^Units ​   |integer codes, see table below|
 +^Remembered |Using SS Z |
 +
 +<--
 +
 +--> Tiger syntax# ​
 +
 +^Shortcut ​ |MA| 
 +^Format ​ |MAINTAIN [Axis] = [0 to 3]… |
 +^Units ​   |integer codes, see table below|
 +^Type    |Axis-Specific ​ |
 +^Remembered |Using [addr#]SS Z |
 +
 +<--
 +
 +--> Function for Motorised Actuator (xy stage, z drive etc)#
 +
 +The maintain command specifies the behavior of the controller after move completion. ​ Move commands complete when the stage moves to within the finish error tolerance of the target position (PCROS command). ​ The actions for various code values are:
 +
 +^code = 0  |[default] ​ Post-move, when the controller detects drift from target specified by the drift error value, it will return the stage axis to the target several times (18) within a timeout period (~0.5 sec.) before declaring a move error code 60 and giving up further attempts.|
 +^code = 1 |Post-move, the controller will indefinitely continue to try to reach target when drifts greater than the drift error are detected. With codes 0 and 1, the motor drivers are turned off when the stage reaches the finish error tolerance. | 
 +^code = 2  |The motor drivers remain on and the servo loop remains active. NB: making a manual move (e.g. joystick) may turn the motors off. |
 +^code = 3 |Drivers remain on and servos active for the post-move time set by the WAIT command. The system BUSY is released when the finish error tolerance is first achieved. ​ Setting the WAIT time sufficiently long can stabilize post-move drifts during data recording, but then allow for less power consumption of the driver amplifiers when waiting between moves.|
 +^code = 4 | Reserved |
 +^code = 5 | Servos Disengage. For example with motorized turrets this will allow the user to manually move the turret. |
 +
 +If there are no errors, the positive reply <wrap reply> :A </​wrap>​ will be sent back from the controller.
 +
 +
 +<--
 +
 +--> Function for Piezo actuator#
 +
 +<WRAP center round info 60%>
 +This feature is only available on Tiger system
 +</​WRAP>​
 + 
 +
 +This command is “recycled” for a different use in piezo axes than for motor axes. For ADEPT piezo cards sets the maintain code.  Currently 2 modes are implemented with the following codes:
 +
 +
 +^MA [axis] = ^Mode ​ ^
 +|0 |default|
 +|1 |Overshoot algorithm|
 +
 +**Mode 0** is the default where the piezo DAC is set and the piezo drive electronics apply a voltage to the piezo to move the piezo to the correct position as measured by the strain gauge.
 +
 +**Mode 1** is the overshoot algorithm which may reduce the setting time in many circumstances where speed is critical and the user is willing to do some tuning. ​ The piezo DAC is set as if the move were traveling past the actual target according to an overshoot percentage set by the ''​PZ T''​ setting. ​ The idea is to slew more quickly initially. ​ When an exit condition is reached the piezo DAC is set to the desired final position. ​ There are two exit conditions, meeting either one or the other is sufficient: \\
 +(1) the strain gauge indicates that the piezo is at least halfway to the final position or \\
 +(2) the maximum time for the overshoot to be applied set by the PZ R is reached. \\
 +
 +<WRAP center round info 60%>
 +Note: At one point this behavior was controlled using the PM command. ​ It was shifted over to MA starting in v3.06 but not in its current form until v3.11. ​ Using this anything besides the default setting with firmware between v3.06 and v3.10 is not recommended.
 +</​WRAP>​
 +
 +
 +
 +<--
 +
 +
 +{{tag>​commands tiger ms2000}}
Address: 29391 W Enid Rd. Eugene, OR 97402, USA | Phone: +1 (541) 461-8181
commands/maintain.txt · Last modified: 2019/04/18 23:33 (external edit)