Operating Ultra-Precision Positioning Systems with Ease

Software for Motion Control Systems

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GCS

The GCS (General Command Set) is PI’s universal command set which is used for all positioning systems. It decouples hardware and software, and enables the programmer to developcompatible applications independent of the positioning system with fewer errors and shorter development times

Controller Positioners

Piezo • Nano • Positioning

PC

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Operating Positioning Systems Effectively & Conveniently

The high quality of positioningsystems is made apparent indaily operation by PI software.Starting with simple commis-sioning, through convenientoperation with a graphicalinterface, to quick and simpleintegration in customized pro-grams, PI software covers allaspects important to an appli-cation.

Software Independent of

Controller and Mechanics

The same software can be usedto control systems with piezoactuators, piezomotors, DC-motors, voice coils and hybriddrives together and uniformly.This makes operation generallyindependent of the number andtype(s) of the connected stages,of the type(s) of controllers,and of the interface(s) used.

Powerful Universal Command

Set

Automated operation of PIpositioning systems is eased

PI Software

by the consistency of the GCScommand set. This facilitatesthe development of custommacros, as well as integrationwith external programs likeLabVIEW, MATLAB, Visual C++,etc.

Software Updates Online

PI supports users with freeupdates, online help and well-structured manuals which easeinitiation of the inexperiencedbut still answer the detailedquestions of the professional.

Simple Commissioning

The commissioning of PI posi-tioning systems is quick andeasy with the NanoCaptureTM

and PIMikroMove® host soft-ware (see pages 4 and 5).Controller and stages areselected and activated with afew clicks. Then the system canbe used directly, usually with-out even rebooting.Running the system from theNanoCaptureTM or PIMikroMove®

All about software in the internet—a server offers download of manuals and softwareCD mirrors

host software graphical inter-face requires no programmingknowledge, either for commis-sioning or direct operation.The powerful GCS concept—one command set for all con-trollers—accompanies the userwith his or her application

through all phases: installation,getting familiar with the hard-ware features using the appli-cation software, and the compi-lation of custom software.

One Command Set for All Systems: Maximum System Compatibility

For uniform operation of nano-and micropositioning systems,the universal PI GeneralCommand Set (GCS) is used.This command set is supportedby all new PI piezo and motorcontrollers including hexapodand hybrid-drive systems. WithGCS, operation is independentof the hardware used, so thatseveral positioning systemscan be controlled together, ornew systems can be introducedwith a minimum of program-ming effort.

Universal Command Set Saves

Development Time

With GCS the development ofcustom application programs issimplified, because the com-mands for all supported de-vices are identical in syntaxand function. The orientationphase normally required can beskipped completely. Throughthe use of the GCS commandset with its convenient func-tions, the application develop-ment process is significantlyaccelerated. At the same time,the probability of error is great-ly reduced.

The GCS commands are avail-able at the controller terminal,

Supported Operating Systems

Microsoft Windows XP

Microsoft Windows 2000

Microsoft Vista

Linux (on request)

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Piezo • Nano • Positioning

in macros and in the form of a universal driver set forLabVIEW (VIs), Windows dynam-ic link libraries (DLL) and COMobjects (see page 6).

Controllers whose firmware isnot based on GCS, are integrat-ed with the help of an addition-al software layer. This is donein a completely transparentmanner, so that these con-trollers also integrate smoothlyinto GCS software. Using theGCS DLLs and COM objectsprovided, or the GCS LabVIEWdriver set, such controllershave been fully integrated intothe PI graphical interface soft-ware and in customer-devel-oped applications as well.

Optimization of System

Dynamics

For optimal system behavior,the servo-control parameterscan be adjusted depending onthe load and desired dynamics.The effects of adjustment ofrelevant parameters, such as P-I-D terms, notch filter fre-quencies and slew rate limit aredisplayed graphically in easy-to-understand diagrams.In addition to manual optimiza-tion, the system behavior can

GCS-compatible Controllers

Micropositioning:C-663, C-843, C-843.PM, C-848, C-862, C-865, C-866, C-880, C-702

Nanopositioning:E-516, E-621, E-625, E-665, E-710,

E-725, E-753, E-755, E-761, C-702

All Hexapod Controllers for:F-206, M-850, M-840, M-824

The intersection demonstrates the uniform implementation of identical functions indifferent PI controllers

Step response of a controlled micropositioning stage with optimized and non-optimizeddynamic parameters

be tuned fully automaticallywith the Autotune option. Withit, the system dynamics areanalyzed and optimized withprogressive approximationalgorithms. This incomparablysimple method provides excel-lent results in minimal time.

With InputShaping® and DDL,additional algorithms are avail-able to improve the dynamicbehavior of piezo positioningsystems (see page 7).

Optimizing System Performance Using Digital Piezo Controllers with PI Software

NanoCapture™ provides basicand highly advanced functionsfor operating digital piezoservo-controllers. With itsgraphical interface, Nano-Capture™ enables convenientsystem optimization and candisplay settling behavior, reso-nant frequency, Bode plots, etc.If the nanopositioning systemis equipped with directly meas-uring position sensors, thesefeatures are available with noadditional instrumentation.

Comprehensive System

Optimization

The functions described aboveare especially useful when themechanical properties of thesystem calibrated at the factoryare changed, e.g. by applying ahigher load.

In such a case, the adjustmentof parameters like control-loopamplification (P-I parameters),notch filter frequency or thezero-point of the integratedsensors, can optimize responsebehavior and system stability.

Successfully Operating Piezo Systems

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� Operation of Digital & Analog Piezocontrollers

� NanoCapture™ Application Software Offers Simple Interface

� Enables Optimization of All Servo Parameters

� Displays Response Behavior & Resonant Frequency,

Creates Bode Plots

Convenient operation and optimization of piezosystems

In addition, NanoCapture™supports numerous controller-specific properties.

Wave Generator: synchronizedoperation of multiple axes withmathematically defined curves,or with arbitrarily costomizedfunctions (see page 7).

Software Support for Analog

Piezo Controllers

Analog piezo controllers with-out a digital interface are sup-ported by PI software with a setof LabVIEW drivers in combina-tion with a DAQ board (seepage 6).

Global Technical Support,

Firmware Updates, Calibration

PI maintains nanometrologylabs with state-of-the art cali-bration equipment on threecontinents. Should a nanoposi-tioning system require recali-bration or user-specified cus-tom tuning, an experienced PIservice engineer will be able tosupport you. PI applicationsengineers can also help youwith firmware and softwareupdates or other system adap-tations.

The frequency response of an open-loop nanopositioning stage pictured in a Bode plot

Simple Operation of Positioning Systems

Positioning systems with mostPI GCS motor, piezo, piezomo-tor and hybrid controllers canbe controlled with PIMikro-Move® in a clear and simplemanner. All connected con-trollers and axes are accessedvia the same graphical inter-face. PIMikroMove® supportsquick commissioning of con-trollers and positioners, com-prehensive system optimiza-tion as well as the program-ming of macros.

All Axes in One View

With PIMikroMove® all axesconnected to the host PC canbe controlled from one pro-gram instance. This, independ-ent of which PI controller isconnected to which axis. Forexample, it is possible to havetwo axes in an XY applicationconnected to two different con-trollers, but still commandthem with PIMikroMove® fromthe same window.

Optimal System Behavior

PIMikroMove® also allows theuser to optimize the system

PIMikroMove® Software

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Piezo • Nano • Positioning

� Operation of PI Motor, Piezo, Piezomotor & Hybrid Controllers

� Optimizing all Servo Parameters

� Macros for Recurring Tasks

behavior through convenientservo tuning.

This possibility is especiallyhelpful if the mechanical prop-erties of a system are changed,for example by applying a different load. The system re-sponse and stability can thenbe optimized with the conven-ient parameter tuning tool.

For recurring tasks, differentsets of optimized parameterscan be saved as stage profilesand then activated as needed incustom-programmed applica-tions.

Macros Ease Recurring Tasks

PIMikroMove® considerablysimplifies the creation ofmacros for recurring tasks.

Execution of a macro, consist-ing of a previously stored list ofGCS commands, can be com-manded over the interface or, ifsupported by the controller, runautomatically on power-up,with or without a host PC con-nected.

Controllers without their ownmacro facility, like the C-843,can be commanded by hostmacros which PIMikroMove®

edits and stores in the host PC.Host macro execution can betriggered with digital I/O linesand support multiple axes con-nected to different controllers.

With the position pad, two ormore independent axes can bemoved by a mouse or joystickas an XY stage, also in vectormoves.

FFT, Profile Generator,

Data Recorder

PIMikroMove® also supportscontroller-specific features.

Data recorder: record variousmotion and system parame-ters, run FFT (fast Fourier trans-formation) on the data as wellas export it to programs likeMicrosoft Excel (CSV format).

Profile Generator: synchronizemotion of several axes alongmulti-order, mathematicallydefined curves or customizedarbitrary functions (see page 7).

A uniform interface for all axes

All axes and the position pad can be displayed in one window

Quick Integration in LabVIEW

The integration and control ofPI positioning systems underLabVIEW is greatly simplifiedby the provision of comprehen-sive LabVIEW libraries. TheLabVIEW drivers support allGCS-capable controllers fromPI, independent of the type ofconnected stage. Thus it is pos-sible to operate piezo, DC-motor, piezomotor, hybrid andhexapod controllers with onedriver together in one applica-tion.

One LabView Driver for

Different Controllers

One big advantage of the com-bination of the GCS commandset and the VIs from PI is theidentity in functionality of dif-ferent positioning systems.Identical functions in different

Programming

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Quick access to the full functionality

� Full Functionality of All PI GCS Controllers Available under

LabVIEW

� High-Level & Low-Level VIs, Including GUI Programs

� Special VIs for Quick System Configuration

� Identical Control for Analog & Digital Controllers

� Open-Source Code of VIs Enables Customization

� Preprogrammed Routines Accelerate Frequently Used Tasks

� Comprehensive Help: Manual, Online Help, Sample Programs

controllers are absolutely uni-form in the VIs.

This strongly reduces the effortrequired in case of controllerupgrade or replacement. Inaddition, existing programs fordifferent PI GCS controllers canbe reused with greater ease.Very often adaptation consistssimply of replacing the con-troller-specific ConfigurationSetup VI.

Any controller-specific func-tionality is, however, also fullyavailable under LabVIEW.

Full Support for NI DAQ

Boards

The same LabVIEW VIs that areavailable for PI digital con-trollers (e.g. set and read volt-

ages and positions, velocity,etc.) can be used in conjunctionwith a National InstrumentsDAQ (data acquisition) board tooperate positioning systemsbased on analog PI controllers.

Furthermore, the patentedHyperbitTM technology is avail-able under LabVIEW for thesesystems. HyperBitTM allowsattaining position resolutionmany times better than the res-olution of the DAQ board used.

Quick and Easy System Setup

For commissioning a position-ing system, the special Con-figuration Setup VI is executedonce. This VI gathers all neces-sary system information forLabVIEW, including:

� Communication parameters� Connected controller(s)� Types & configurations of

the connected stages/axes

Integrate & Customize

Configuration Setup VIs

With its connectors, the Con-figuration Setup VI can be cus-tomized completely to meet theapplication requirements; it isincluded as initialization VI di-rectly in the LabVIEW applica-tion. After it has been run, allcommand VIs and high-levelroutines of the system can beused.

Using Powerful GUI Programs

Directly

Beside the command VIs, high-level VIs can be included direct-ly. A comprehensive selectionof GUI programs is provided,such as a terminal application,interface selection routine,wave generator samples, 1Dand 2D scan and align func-tions, joystick control, etc.

Graphical view of different VIs

Flexible Integration in Text-Based Programming Languages

The operation of PI positioningsystems from external pro-grams running under MicrosoftWindows is eased with Dy-namic Link Libraries (DLLs) andCOM objects.

Maximum flexibility

The drivers which are providedsupport all current program-ming languages (see inset) andall positioning systems from PI.Since the drivers are based onthe uniform PI GCS commandset (see page 3), GCS function-ality can be included directly inexternal programs. The advan-tages of the GCS command set are available whether ac-cessed from the DLL or theCOM object.In addition to direct GCS com-mands, the driver sets alsomake more complex function-

Support of Controller-Specific Features

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Piezo • Nano • Positioning

Improved Piezo Control:

Dynamic Digital Linearization

(DDL)

Conventional piezo controllerscannot completely avoidphase-shift and tracking errorsin applications with rapid, peri-odic motion. This is due in partto the non-linear nature of thepiezoelectric material, the finitecontrol bandwidth and theinherent limitations of P-I (pro-portional-integral) servo-con-trol, which only reacts when aposition error is detected.The DDL option, available withrecent digital piezo controllers,solves this problem. This tech-nology, developed by PI, re-duces the error between cur-rent and desired position toimperceptible values. The dy-namic linearity and effectivelyusable bandwidth are thusimproved by up to three ordersof magnitude. DDL is of benefitto single- and multi-axis appli-cations where motion follows a

given trajectory repeatedly (seemeasurement curves).

Trajectory Profiles

Trajectory profiles of arbitrary,user-defined mathematical func-tions enable complex 2-axismotion. With the Wave Editorand Profile Generator graphicalinterfaces, standard functions(sine wave, square wave,ramps, scans, etc.) are selectedand customized. Depending onthe controller used, either time-and-position data value pairscan be saved (Wave Editor) orcomplete trajectory profileswith velocity, acceleration andjerk (rate of change of accelera-tion) can be specified (ProfileGenerator).

The functionality includes:� Programming complex func-

tions� Quick access to common

functions (e.g. sine, triangleand square waves ...)

Languages Supported by PI

MATLABVisual Basic, Delphi

C, C++, PythonLabVIEW (siehe Seite <LabVIEW>)

Integration of GCS commands likeMOV and POS? in DLL Integration of GCS MOV command in COM object

Elliptical scan with a XY piezo scannerand standard controller. The outercurve shows the desired position, theinner curve shows the actual motion

The same scan as before but with a DDLcontroller. The tracking error is reduced toa few nanometers, desired and actual posi-tion cannot be distinguished in the graph

With the Wave Editor, not only are con-figurable functions like triangle, square,sine wave, etc. available, but also com-plex scans are defined

alities—with their own graphi-cal interfaces—available to ex-ternal programs. It is thus pos-sible, for example, to use a DLLfunction call to include theWave Editor or Profile Genera-tor, complete with operator dia-logs, in an external program.

Languages Supported by PI

MATLABVisual Basic, Delphi

C, C++, PythonLabVIEW (see page 6)

� Coordination of two axes,e.g. for applications requir-ing circular motion

� Saving of defined functionsin the controller

The Wave Editor and ProfileGenerator are also available asDLL function calls, whichenables their simple integra-tion in external programs.

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Piezo • Nano • Positioning

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Program Overview

� Piezoelectric Actuators

� Piezo Nanopositioning Systems and Scanners

� Active Optics / Tip-Tilt Platforms

� Capacitive Sensors

� Piezo Electronics: Amplifiers and Controllers

� Hexapods

� Micropositioners

� Positioning Systems for Fiber Optics, Photonicsand Telecommunications

� Motor Controllers

� PILine® High-Speed Ceramic Linear Motors

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