PI-Smart

T e c h n i c a l D o c u m e n t a t i o n
Software Manual MS 87E
C-843 PISmart
Operating Software for
C-843 Motor Controller PCI Card Release 2.4.1
The software described in this document is for use with the following
products:
C-843.20
DC-Motor Controller Card (PCI), 2 motor axes C-843.21
DC-Motor Controller Card (PCI), 2 motor axes C-843.40
DC-Motor Controller Card (PCI), 4 motor axes C-843.41
DC-Motor Controller Card (PCI), 4 motor axes C-843.JS
Joystick Option for DC-Motor Controller Card (PCI)
© Physik Instrumente ( ) GmbH & Co. KG
Table of Contents
0Manufacturer Declarations 3 0.1PI Software License Agreement (3)
0.2Limited Warranty (3)
0.3Availability of Program and Documentation (3)
1Introduction 4 1.1Purpose of C-843 PISmart Software (4)
1.2System Requirements (5)
2Quick Start 5 2.1Install the Software on the Host PC (5)
2.2Start C-843 PISmart (5)
2.3Connect Stages (5)
2.4Basic Positioning (6)
2.4.1Test Moves (6)
2.4.2Examples (7)
3General Notes about C-843 PISmart7 3.1The Program Design (7)
3.2Using Multiple C-843 Cards (8)
3.3Quitting C-843 PISmart (9)
3.4Uninstalling and Updating (9)
4Positioning with C-843 PISmart9 4.1General Notes about Positioning (9)
4.2Readying Stages (10)
4.3Stage Parameters (11)
4.3.1Parameter Display in Stage Selection Window (11)
4.3.2Changing the Parameter Settings temporarily (12)
4.4Positioning with the Main Screen (13)
4.4.1Using Function Buttons (13)
4.4.2Using Commands (14)
4.5Joystick (16)
4.5.1Setup (16)
4.5.2Joystick Operation (18)
4.6Position Pad (Mouse) Operation (19)
4.7Macros (21)
4.8Special Procedures (23)
4.8.1Referencing (23)
4.8.2Home Position (24)
4.8.3Limit and Motion Errors (25)
5Displays and Control Elements 25 5.1Main Screen Status Displays (26)
5.1.1Motor Status (26)
5.1.2Board and Program Status (26)
5.2Inspection Monitor Window (27)
5.3About C-843 PISmart—Version Control Check (29)
6C-843 PISmart Configuration Options 29 6.1Changing Start-Up Settings (29)
6.2Editing the Stage Database (31)
7Appendix: Commands for Use with C-843 PISmart 33 7.1Overview (33)
7.1.1Command Sets (33)
7.1.2Interfaces for Users and Programmers (33)
7.2General Command Set (GCS) (33)
7.2.1Format of GCS Commands (33)
7.2.2GCS Command Overview (35)
7.2.3Example: Moving Stages with GCS commands (36)
7.2.4GCS Command Reference (alphabetical) (37)
7.3QFL Command Set (53)
7.3.1Format of QFL Commands (53)
7.3.2QFL Command Overview (53)
7.3.3QFL Command Reference (alphabetical) (56)
© Copyright 2004 by Physik Instrumente (PI) GmbH & Co. KG, all rights reserved
Release date: 08 April 2003
Filename: C-843_PISmart_MS87E.doc,
0 Manufacturer Declarations
0.1 PI Software License Agreement
1. GENERAL AGREEMENT.
THIS IS A CONTRACT. BEFORE YOU USE THIS SOFTWARE, YOU HAVE TO AGREE WITH THE TERMS OF THIS
AGREEMENT.
2. GRANT OF LICENSE.
THIS SOFTWARE MANUFACTURED BY PI IS SUPPLIED AS A FREE TOOL TO THE PRODUCT. THIS LICENCE
AGREEMENT ALLOWS THE BUYER TO USE MULTIPLE COPIES ON MULTIPLE COMPUTERS.
3. COPYRIGHT.
THE SOFTWARE IS OWNED BY PI AND IS PROTECTED BY INTERNATIONAL COPYRIGHT LAWS AND TREATY
PROVISIONS.
4. RESTRICTIONS
YOU MAY NOT REVERSE ENGINEER, DECOMPILE OR DISASSEMBLE THE SOFTWARE.
5. LIMITED WARRANTY.
PI DOES NOT WARRANT THAT THE SOFTWARE WILL PERFORM IN ACCORDANCE WITH THE ACCOMPANYING
DOCUMENTATION ON ALL COMPUTER PLATFORMS.
6. DISCLAIMERS.
PI EXPRESSLY DISCLAIMS ANY AND ALL WARRANTIES, EITHER EXPRESSED OR IMPLIED INCLUDING ANY IMPLIED
WARRANTY OF MERCHANTABILITY, ANY IMPLIED WARRANTY OF FITNESS FOR A PARTICULAR PURPOSE. PI DOES
NOT WARRANT, GUARANTEE, OR MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE RESULTS OF THE
USE OF THE SOFTWARE, IN TERMS OF CORRECTNESS, ACCURACY, RELIABILITY, OR OTHERWISE, AND DOES NOT WARRANT THAT OPERATION OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR-FREE.
7. LIMITATION OF LIABILITY.
TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL PI OR ITS LICENSORS (INCLUDING ITS AND THEIR DIRECTORS, OFFICERS, EMPLOYEES, AND AGENTS) BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, INCIDENTAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES, EXPENSES, LOST PROFITS, LOST SAVINGS, BUSINESS INTERRUPTION, LOST BUSINESS INFORMATION, OR ANY OTHER DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE SOFTWARE, EVEN IF PI OR ITS LICENSORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH
DAMAGES.
8. WARNING.
THE SOFTWARE IS NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN TREATMENT AND DIAGNOSIS OF HUMANS. APPLICATIONS OF THE SOFTWARE INVOLVING MEDICAL OR
CLINICAL TREATMENT CAN CREATE A POTENTIAL FOR ACCIDENTAL INJURY CAUSED BY SOFTWARE FAILURE, OR BY ERRORS ON THE PART OF THE USER OR APPLICATION DESIGNER. ANY USE OR APPLICATION OF THE SOFTWARE FOR OR INVOLVING MEDICAL OR CLINICAL TREATMENT MUST BE PERFORMED BY PROPERLY TRAINED AND
QUALIFIED MEDICAL PERSONNEL, AND ALL TRADITIONAL MEDICAL SAFEGUARDS, EQUIPMENT, AND PROCEDURES THAT ARE APPROPRIATE IN THE PARTICULAR SITUATION TO PREVENT SERIOUS INJURY OR DEATH MUST CONTINUE TO BE USED WHEN THE SOFTWARE IS USED. THE SOFTWARE IS NOT INTENDED TO BE A SUBSTITUTE FOR ANY
FORM OF ESTABLISHED PROCESS, PROCEDURE, OR EQUIPMENT USED TO MONITOR OR SAFEGUARD HUMAN
HEALTH AND SAFETY IN MEDICAL OR CLINICAL TREATMENT.
Warranty
0.2 Limited
The media on which you receive Physik Instrumente software are warranted not to fail to execute programming instructions due to defects in materials and
workmanship for a period of 90 days from date of shipment. Physik Instrumente
will, at its option, repair or replace software media that do not execute
programming instructions.
No other warranty is expressed or implied. Physik Instrumente specifically
disclaims the implied warranties of merchantability and fitness for a
particular purpose.
0.3 Availability of Program and Documentation
C-843 PISmart and this document, as well as the other software tools and manuals accompanying the C-843 DC-Motor Controller Card, can be found in machine-
readable form on the product CD (Adobe PDF format). Updated releases are
available via FTP or email: contact your PI sales engineer or write info@pi.ws.
1 Introduction
1.1 Purpose of C-843 PISmart Software
C-843 PISmart is an interactive software interface designed to operate C-843
DC-Motor Controllers under Windows 98/ME, WindowsNT and Windows
2000/XP. C-843 PISmart permits you to start your motion system—controller
and stage(s)—immediately without the need to write custom software.
C-843 PISmart allows running up to four DC motors using either onscreen
buttons, menus, command strings, a joystick or macros.
The onscreen buttons are especially useful for initial testing and simple
applications. When you use command strings, you can choose between the
PI General Command Set (GCS) and the QFL command set. The macro
editor facilitates generation of complex command sequences (GCS or QFL
command set), both for motor motion and parameter setting.
The C-843 PISmart software is included with the C-843 card and can be
found on the associated CD.
Menu bar Toolbar Button for toggling between QFL and GCS command mode Panes for each axis:
¾ Controls for
commanding
moves
¾ Current Status
displays motor
status and
current position
values (in
encoder counts
and derived
units)
Pane for
synchronous motion
of motor pairs Command input and response (in QFL or GCS command mode) Status line with
information
about the C-843
controller card
Fig. 1: C-843 PISmart main window (C-
843.21 two-axis version)
1.2 System
Requirements
C-843 PISmart requires a motion system consisting of:
¾Standard PC running Windows 98/ME or Windows NT/2000 with installed C-843 DC-Motor Controller card and card driver (see the C-843
User Manual MS 77E for detailed instructions on installing the hardware
and the driver).
¾Compatible stages (for example M-111.xx, M-505.xx or M-5x1.xx) for connecting to the C-843 DC-Motor Controller card. Stage requirements
include differential encoder signals, DC or PWM motor drive, and, if
present, TTL-compatible limit and reference switch signals. Call your PI
representative if you need to work around some of these requirements.
¾If you wish to use the joystick control feature, you will need a joystick, game port (often on sound card) and appropriate driver. PI offers the C-
843.JS package which includes a supported joystick and sound card
with game port. If you use another joystick and game port, PI may not be
able to help you solve any problems that may arise.
Start
2 Quick
In this section installation and use of C-843 PISmart for simple testing and
operation of your motion system will be explained. Later sections will explain
more details.
2.1 Install the Software on the Host PC
1. Be sure to login as administrator or with administrator rights and insert
the C-843 CD in your host PC.
2. If the Setup Wizard does not open automatically, start it from the root
directory of the CD with the icon.
3. Follow the on-screen instructions. You can choose between “typical” and
“custom” installation. With “typical” a standard software package for the
C-843 board (C-843 PISmart, hardware driver for the C-843 board,
LabView drivers, DLLs) is installed, while with “custom” some
components are optional.
4. Reboot the PC.
5. Make sure there is at least one C-843 controller card installed in your
PC. If not, see the C-843 User Manual for complete instructions on
installing the card.
C-843 PISmart
2.2 Start
C-843 PISmart can be started with Start → Programs → PI → C-843 →
C843 PISmart. The C-843 PISmart main window will open.
Stages
2.3 Connect
Warning: Do not connect or reconnect stages to the system when the Ready
icon (Motor ON) is visible. Unexpected motion resulting in damage can otherwise result.
If you have not done so already, connect your stages to the controller card in
the PC. The labels on the brackets correspond to the axis numbers used in
C-843 PISmart.
C-843 PISmart supports 2-axis synchronized motion. Axes 1 and 2 can be moved synchronously, as can axes 3 and 4. If you need synchronous motion, connect your stages accordingly.
Positioning
2.4 Basic
First, if you have a 4-axis controller (C-843.4x), use the View menu to specify
whether you want to see motors 1 and 2, 3 and 4 or all 4 motors in the main
screen.
Next initialize each motor you want to move by clicking on the appropriate
icon in the main window. Before the system initializes a motor, you are asked to choose or confirm the type of stage connected to that axis. To this
effect, the Select Stage dialog box (see Fig. 2 on p. 11) opens automatically.
The list in the Select Stage window contains all supported stages and some
entries for user-defined stages. Selecting a stage automatically loads the stage parameters with the values stored for that stage in the C-843 PISmart
database. The parameters that will be loaded are shown in the Select Stage
window. For information on changing these parameters, see “Changing the Parameter Settings” section on page 12.
To initialize the associated axis with the stage designation and parameters shown, click OK.
To close the Select Stage window without changing the state of the motor, click Cancel.
Note that as long as the text in the Controls pane is “Motor OFF” the motor is
not initialized and therefore not ready for operation, and the “Status: Disconnected” message is displayed in the Current Status pane. Initialization
does not move the motor, but defines the current position as 0.
Warning: Compare the stage selection with the stage designation on the
stage nameplate carefully. Performing moves with incorrect stage
parameters can under certain circumstances cause damage to the stage.
When a motor is initialized, the icon changes to , the text to “Motor On” and the status is no longer “Disconnected.”
Note that the values for position, velocity, acceleration and deceleration
displayed in all the windows are always in encoder counts1. The counts/µm-
ratio for any stage is provided in the Select Stage window in the Ratio [c/µm]
line (see Fig. 2).
2.4.1 Test Moves
It is recommended that you make a number of test moves at this point to
verify system operation. The examples that follow show some of the
possibilities for doing so from the main screen.
1 Note that GCS commands, reports and macros in the Command Input and the Report
Window panes are an exception: in the Command Input and Report Window panes they use the syntax known from the C-843 GCS DLL, i.e. physical units instead of counts.
2.4.2 Examples
Example 1: Use the and buttons to cause the motor to move in the respective direction by the amount specified in the Pos to add field. The
velocity can also be specified: the + and - buttons change the value in
the max. Velocity field by the amount in the Vel. to add field.
Example 2: Drive the stage to its reference position (hardware-specific, stages without reference switches will move to the positive or negative
limit) and define that position as position 0. The procedure is as follows:
1) Make sure the motor you wish to reference is initialized (Motor
ON).
Stages → Reference Position menu sequence to open the
2) Use
the
Search Reference Position dialog.
3) Select the desired motor (axis) in the Axis Select pane. The Stage
Model will be filled in.
4) Choose the desired direction in the Start Options pane (i.e. the
direction in which you think the reference position lies).
5) Start motion in the selected direction by pressing Start Search.
When the reference position is reached (status line changes from
"Searching …" to "Motor stopped"), close the Search Reference
Position dialog with the Close button.
the (Define Home) button in the Current Status pane of
6) Press
the main window
Example 3: Drive the stage to its positive limit and define that point as +500,000. This is left as an exercise for the reader.
Hint: move the stage to the positive limit. If necessary, use the Stages →
Return to working condition menu sequence to clear a limit error. Then
set Pos to add to 500,000 and move backwards by that amount. When
the move has completed, click Define Home.
3 General Notes about C-843 PISmart
3.1 The Program Design
In C-843 PISmart, only the most-recently opened window is active. This
prevents the multitude of settings and functions in the different windows from
interfering with each other, but sometimes forces you to close a window to
reach a function you need.
As you gain familiarity with C-843 PISmart, you will choose to control your
motion system either from the main window or from one of the other windows
which can be reached from the main window, namely:
¾Joystick operation window (for details see Section “Joystick,” p.16),
¾Position Pad window, where you use the mouse to move axes in pairs
Position Pad (Mouse) Operation
(for details see Section “,” p. 19),
¾Macro Editor window, where you can load, create, save and execute
sequences of commands (either GCS or QFL) (for details see Section
“Macros,” p. 21),
¾Inspection Monitor window, where a large number of parameters are visible and where you can enter QFL commands (for details see Section
,” p. 27).
Inspection Monitor Window
In the main window, you have the following functions at your fingertips (all described in Section “,” beginning on p. 13):
Positioning with the Main Screen
¾Simple positioning for axes, singly or in allowable pairs. See Section “Using Function Buttons,” p. 13 for descriptions of all the control elements in the main window.
¾Input of single QFL or GCS commands (for details see Section “,” p. 14). Using
Commands
Several displays and control elements inform you about the position of the stage and the board status (for detailed information see the “Displays and Control Elements” section on p. 25).
An often-helpful description of the function of the buttons and other control
elements pops up if you hover the cursor over the item in question.
In C-843 PISmart the “motor”, “axis”, “channel” and “stage” (for a single-axis
stage) terms are used as synonyms.
The presently supported stages and their parameters are provided by two internal stage databases. With certain limitations, you may define new stages
and edit stage parameters. For selecting and editing the stage database see
the “” section beginning on page 29.
This section also provides also information about changing other C-843
PISmart start-up settings by editing a configuration file.
C-843 PISmart Configuration Options
The values for position, velocity, acceleration and deceleration displayed in
all the windows are always in encoder counts, even if you switch to GCS mode and enter commands. Note that GCS commands, reports and macros
are an exception: in the Command Input and Report Window panes they use
the syntax familiar from the C-843 GCS DLL, i.e. physical units instead of counts.
The C-843 PISmart main window ( see Fig. 1 on p. 4) contains the following
elements:
¾ Menu bar
¾ Toolbar
¾Panes for each axis (Motor 1, Motor 2, ...)
¾ A pane for synchronous motion of motor pairs 1 and 2 or 3 and 4
¾ A pane for command input and a field in which the command
mnemonics are echoed and any response is also shown (Report Window)
¾ A status line with information about the C-843 controller card
Note that all elements except those in the motor-specific panes, refer to the
system as a whole, even when only two axes of a 4-axis system are being
displayed. You can, of course, switch between the 2-axis and 4-axis view at
with the View menu or the button on the toolbar.
3.2 Using Multiple C-843 Cards
You can install up to eight C-843 DC-Motor cards in the same PC. Follow the
installation instructions in the C-843 User Manual, MS 77E. The cards must
have been made distinguishable (have different board ID settings). The
mechanism used is comparable to setting jumpers on an ISA card, but
instead of a jumper, a serial EEPROM on the card is used. If you wish to have PI set your card before shipment, please let us know. Otherwise, to reset the EEPROM, perform the procedure described in the C-843 User Manual MS 77E.
Install C-843 PISmart as described in Section 2.1 on p. 5.
Multiple cards can be addressed by separate instances of C-843 PISmart, each in its own window.
Warning:
If you start several C-843 PISmart instances, they all need to have the same start-up settings. Never change the C-843 PISmart Configuration file while
any instance of C-843 PISmart is open (for details see the “” section on p. 29). Changing Start-
Up Settings
Every time you start C-843 PISmart the Select Board dialog appears, in
which you can chose the board you want to work with. The status bar at the
bottom of the C-843 PISmart main window shows the ID of the board to
which this instance of C-843 PISmart belongs. If you start several instances
of C-843 PISmart only one C-843 PISmart instance is active at any time.
Do not try to start multiple instances of C-843 PISmart if you only have one
C-843 in your PC.
3.3 Quitting
C-843 PISmart
To quit working with C-843 PISmart use the File→Exit menu sequence or the
right-most button in the right upper corner of the main window.
All stages are disabled (Motor OFF) automatically when closing C-843
PISmart, and all motions are aborted.
3.4 Uninstalling and Updating
To uninstall C-843 PISmart use the Start→Settings→Control Panel→Add
Remove Programs (Software) menu sequence of your operating system,
select the “C-843 Host-Software” entry and follow the on-screen instructions.
Updating C-843 PISmart:
1. If you want to keep retain the configuration file, save it under a different
name or in another directory. (For further information about the
configuration file see Section 6.1 on p. 29.)
2. Uninstall the old C-843 PISmart version as described above.
3. Install the new C-843 PISmart version, running the Setup Wizard from
your update media.
4. If desired, overwrite the new configuration file with the one saved in
step 1.
4 Positioning
with
C-843 PISmart
4.1 General Notes about Positioning
The values for position, velocity, acceleration and deceleration displayed in
all the windows are always in encoder counts, even if you switch to GCS
mode and enter commands (as described in the “” section
on page 14). Note that GCS commands, reports and macros are an
Using Commands
exception: in the Command Input and Report Window panes they use the syntax familiar from the C-843 GCS DLL, i.e. physical units instead of counts. The counts/µm or counts/deg ratio for any stage is provided in the Stage Selection window in the Ratio [c/µm] line (see p. 11 for how to open this window).
Note that if you switch to GCS mode to enter GCS commands, you should not use all the other controls of C-843 PISmart until you have switched back to QFL mode. Doing so may cause some controls to malfunction. (In GCS mode the C-843 GCS DLL, which does not fully support the C-843 PISmart
controls and functions, is connected to the program.) See "
" on p. 14 for details. Using
Commands
In C-843 PISmart only the most-recently opened window is active. This prevents the multitude of settings and functions in the different windows (Joystick, Position Pad, Macro) from interfering with each other.
In the Current Status pane of the C-843 PISmart main window, however, you can conveniently monitor the motion of a stage even when working with the joystick, position pad or macro editor.
While a stage is in motion the Status field in the associated Current Status pane is green with the text “Moving” or ”Moving Max” (for maximum velocity).
Then, as PosErr settles, the text will change to “On Target”. The target is in fact only reached when PosErr has been reduced to 0.
Note that when the status shows “...Limit”, the stage cannot be moved in either direction until the limit condition is removed with the menu sequence Stages→Return to working condition.
Note that the status “moving” can also appear when the stage is moving with
a very low or zero velocity due to a malfunction; then the position error will
typically be increasing.
4.2 Readying
Stages
No matter how you intend to use C-843 PISmart (e.g. with joystick or
Position Pad), first you have to initialize the stage as described below.
Warning: Do not connect or reconnect stages to the system when the Ready
icon (Motor ON) is visible. Unexpected motion resulting in damage can otherwise occur.
Initialization of a stage is required if it shows “Motor OFF” in the Controls
pane and “disconnected” in the Current Status pane. To initialize it and thereby make it ready for operation, click on the button. The Select Stage window (Fig. 2) opens, where you are asked to confirm the name of the connected stage, or make a new selection. If the stage you need is not shown, open the list and look there. If it is not in the list, it can be added (see the “” section on p. 31).
Editing the Stage Database
Note: If you want to drive an analog stage whose power consumption is likely to exceed the output current limitations of the C-843 (see the C-843 User Manual), the use of a PWM converter box (C-842.AP1) is recommended. In that case you must select the stage entry with the "PWM" name suffix, as the converter box runs Sign/Magnitude PWM mode.
Note: In C-843 PISmart you can switch between
the SMARTMOVE_STAGES database (default
setting) and the PISTAGES database. At present
only SMARTMOVE_STAGES is editable with C-
843 PISmart . For details see the “” section on p. 29 and the
“” section on p. 31.
Choosing a stage loads the associated set of
operating parameters from the active stage
database (among others, velocity, acceleration,
deceleration ∗, P-term, I-term, D-term, feed-
forward). The parameters that will be loaded are
shown in the window in gray. See the “Changing
the Parameter Settings” section on page 12 for
information on how to edit them temporarily.
Warning :
Operating with an incorrect stage selection can
in some circumstances result in damage to the
stage.
Fig. 2: Select Stage window
Changing
Start-Up Settings Editing the Stage Database When you switch a stage motor from “motor off” to “motor on”, and you see a
message saying that you have selected an incorrect stage or incorrectly
defined its signal polarity, the problem may be that the stage is not correctly
connected to the C-843 card.
The connector numbers on the card correspond to the motor numbers in C-
843 PISmart : e.g. the stage connected to CH1 will appear as “Motor 1”.
4.3 Stage Parameters
The stage parameters are loaded from the stage database which is activated
in the C-843 PISmart configuration file (see Section 6.1 on p. 29). Note that
you have the choice between SMARTMOVE_STAGES (default) and PI_STAGES (also used by the C-843 GCS.DLL; and explained in the
GCS.DLL Manual). Identical stages should have identical entries in both
databases. For selecting and editing the stage database see the “” section beginning on page 29.
C-843
PISmart Configuration Options 4.3.1 Parameter Display in Stage Selection Window
The Stage Selection window (see Fig. 3) presents the stage parameters at a
glance. It is opened with the Stage →Stage Selection menu sequence or with
the button.
Note that the notation “Disconnected” means that the corresponding motor is
deactivated (Motor OFF). For such axes, the stage selection may be altered
by opening the list and selecting a different entry. For stages showing
“Connected”, no stage change is possible.
∗
By default the deceleration value, which is not shown in the Select Stage window, is the same as the acceleration value.
Fig. 3: Stage Selection window
4.3.2 Changing the Parameter Settings temporarily
Every time you initialize a stage (stage is selected and the motor readies with
“Motor ON” and icon displayed; see the “Readying Stages” section on p. 10), the standard settings for that stage are loaded from the active database. Most of these settings are also displayed in the selection window (Fig. 2).
The parameters for an active stage can, however, be changed individually in
a number of ways (see below). No matter how you change a parameter, the
new value replaces the old one in the active parameter set, but any change is discarded when you quit C-843 PISmart or when the stage is deactivated (set to “Motor OFF”, icon displayed).
You can change parameters by:
¾Entering a parameter-change command from the QFL or GCS command set. See the appendix beginning on p. 33 for the formats of these
commands.
¾Making entries on the Parameters tab card of the Settings window (see Fig. 4). Open Settings with the Tools→Settings menu sequence or with
the buttons in the main screen.
¾ The Velocity parameter can be updated in the Controls pane of the main window as follows: use the + and – buttons to change the value in the
max. Velocity field by the amount you have typed in the Vel. to add field.
The entry in the max. Velocity field should not exceed the max. velocity
specified for the appropriate stage.。