Specifications

Operation

3.8.1 Defining Macros

To define a macro command sequence, first activate macro recording mode

with the command MAC BEG <macroname> where <macroname> is a

user-settable name with a maximum of 8 characters. While in macro

recording mode, commands are not executed but stored in macro storage.

Recording mode is exited by the MAC END command. The maximum

number of macros to be stored on the E-517 is 60.

A macro is immediately written to non-volatile memory. No additional

storage procedure is required. Note that saving a macro to non-volatile

memory typically takes about 1 s.

A macro can start another macro without any nesting level limitation. A

macro can call itself to form an infinite loop.

During macro recording no macro execution is allowed.

A macro can be overwritten by a macro with the same name.

Macros can be recorded when the wave generator is running.

A running macro sends no responses to any interface. This means

questioning commands are allowed in macros but not answered and

therefore useless.

Example 1: This simple macro initializes the E-517 and performs a move

forward and backward.

MAC BEG macro1

Start recording macro "macro1"

ONL 1 1 2 1 3 1

Switch all piezo channels to ONLINE mode

SVO A 1 B 1 C 1

Enable servo control mode for all axes.

VCO A 1 B 1 C 1

DCO A 1 B 1 C 1

Enable velocity control mode and drift

compensation mode. The E-517 now keeps

track of proper motion.

VEL A 100 B 100 C 100

Set velocity to 100 µm/s.

MOV A 10 B 10 C 10

Move all axes to position 10 µm. This moves

take 0.1 s.

DEL 1000

Delay of approx. 1000 ms.

MOV A 0 B 0 C 0

Move all axes to its home.

DEL 1000

This delay only matters if the macro is run

several times in a loop.

MAC END

Exit the macro recording mode. The macro now

is complete.