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CEO: Dr. Bernt Götz • Phone +493641/66880 • Fax +493641/668866 • www.piezosystem.com
spis
Current SPI setpoint
Only query possible
ILC control
imode
ILC controller operating status
0 = PID controll (ILC off)
1 = identification mode
2 = feedforward control mode
3 = feedback control mode
ipara
ILC parameter query
-
iemin
Lower learning limit “emin”
0.0001 … 1.000 (default: 0.1)
irho
Learning rate “rho”
0.0001 … 1.000 (default: 0.1)
in0
Number of basic scanning
n0 >= n1
2…65535
in1
Number of subsamples
n1 < 1024 (=N1_max)
n1 = 2
k
2,4,8,16,32,64,…1024
inx
Number of frequency components to be learned
nx < 128 (=NX_max)
nx < ½ * n1
1…128
iut
Query of the manipulated value curve in the time
domain
Without index = output as array (up to
in1)
With index (up to in1) = output of the
index
iyt
Query the measured value in the time domain
Without index = output as array (up to
in1)
With index (up to in1) = output of the
index
ii1t
Query the Current value 1 in the time domain
Without index = output as array (up to
in1)
With index (up to in1) = output of the
index
ii2t
Query the Current value 2 in the time domain
Without index = output as array (up to
in1)
With index (up to in1) = output of the
index
igc
Query of the correction curve in the frequency
domain
Without index = output as array (up to
inx)
With index (up to inx) = output of the
index
iuc
Query of the manipulated variable curve in the
frequency range
Without index = output as array (up to
inx)
With index (up to inx) = output of the
index
iwc
Query and set the setpoint curve in the frequency
domain
Set:
<Index> = 0… inx
<value> = - infinite ... + infinite
Interrogate:
Without index = output as an array
(up to inx)
With index (up to inx) = output of the
index
iyc
Queries measured value curve in the frequency
domain
Without index = output as array (up to
inx)
With index (up to inx) = output of the
index
isave
Save curves in the actuator (Number = nx)
-
iload
Load curves from the actuator (Number = nx)
-
iclr
clear memory
-
