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9 GCS Commands

C-863 Mercury Controller

MS205Equ

Version: 2.0.0

69

In this Chapter

GCS Syntax for Syntax Version 2.0 - see detailed user manual................................. 69
Target and sender address - see detailed user manual .............................................. 69
Variables - see detailed user manual .......................................................................... 69
Command Overview .................................................................................................... 70
Error Codes - see detailed user manual ...................................................................... 74

9.1 GCS Syntax for Syntax Version 2.0 - see detailed user

manual

You can find information on this topic in the detailed MS205E user manual which is
included as a PDF file on the product CD and can be downloaded from our website
(p. 5).

9.2 Target and sender address - see detailed user manual

You can find information on this topic in the detailed MS205E user manual which is
included as a PDF file on the product CD and can be downloaded from our website
(p. 5).

9.3 Variables - see detailed user manual

You can find information on this topic in the detailed MS205E user manual which is
included as a PDF file on the product CD and can be downloaded from our website
(p. 5).

9

GCS Commands

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Summary of Contents for C-863

Page 1: ... MS205Equ C 863 Mercury Controller Short Version of the User Manual Version 2 0 0 Date 22 03 2013 This document describes the following product C 863 11 Mercury DC Motor Controller 1 Channel with Wide Range Power Supply The detailed version of this user manual is included as a PDF file on the product CD and can be downloaded from our website ...

Page 2: ... Co KG Karlsruhe Germany The text photographs and drawings in this manual are protected by copyright With regard thereto Physik Instrumente PI GmbH Co KG retains all the rights Use of said text photographs and drawings is permitted only in part and only upon citation of the source Original instructions First printing 22 03 2013 Document number MS205Equ BRo version 2 0 0 Subject to change without n...

Page 3: ... Start Up 9 2 2 4 Safety Measures during Operation 9 2 2 5 Safety Measures during Maintenance 10 3 Product Description 11 3 1 Features and Applications 11 3 2 Model Overview 13 3 3 Product View 13 3 3 1 Front Panel 13 3 3 2 Rear Panel 14 3 4 Scope of Delivery 15 3 5 Accessories 16 3 6 Functional Principles 17 3 7 Communication Interfaces 18 3 8 Overview of PC Software 18 3 9 Stage Databases 20 4 U...

Page 4: ...ing on the C 863 45 7 4 Establishing Communication 46 7 4 1 Establishing Communication via RS 232 46 7 4 2 Establishing Communication via USB 48 7 4 3 Establishing Communication for a Networked Controller 49 7 5 Starting Motions 55 7 6 Recording the Step Response 60 7 7 Optimizing the Servo Control Parameters 64 8 Operation 67 8 1 Motion errors see detailed user manual 67 8 2 Data Recorder see det...

Page 5: ...cal Data 93 14 1 Specifications 93 14 1 1 Data Table 93 14 1 2 Maximum Ratings 94 14 1 3 Ambient Conditions and Classifications 95 14 2 System Requirements 96 14 3 Dimensions 96 14 4 Pin Assignment 97 14 4 1 DC Motor only 97 14 4 2 I O 98 14 4 3 C 170 IO Cable for Connecting to the I O Socket 98 14 4 4 Joystick 99 14 4 5 C 819 20Y Cable for C 819 20 Joystick 100 14 4 6 RS 232 In and RS 232 Out 101...

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Page 7: ...structions for adapting settings Cleaning instructions for the C 863 Overview for troubleshooting In the detailed MS205E user manual which is included as a PDF file on the product CD you can find all other information and instructions regarding operation and maintenance as well as command and parameter descriptions This short version refers to information that is only included in the detailed vers...

Page 8: ...st be observed Action consisting of one or several steps whose sequential order is irrelevant List item p 5 Cross reference to page 5 RS 232 Labeling of an operating element on the product example socket of the RS 232 interface Warning sign on the product which refers to detailed information in this manual Start Settings Menu path in the PC software example to open the menu the Start and Settings ...

Page 9: ... precision linear actuators are designated as stages as well Daisy chain Wiring diagram by which one controller is connected to the next in sequence series connection principle Here the first controller is connected directly to the PC The additional controllers are always connected to the ones that precede them so that a chain is formed The signal to and from a controller goes to the PC via the pr...

Page 10: ... C x63 11 MS212E Software Manual GCS array data format description SM146E Software Manual PIMikroMove SM148E Software Manual PIStageEditor software for the management of stage databases SM144E Software Manual PI Update Finder Search and download updates A000T0028 Technical Note PI Update Finder Updating PC without Internet connection A000T0032 Technical Note Adapting software that was written for ...

Page 11: ...the selected product 5 If 0 Files is shown in the Documents line log in as follows to display and download the documents a Insert the product CD in the corresponding PC drive b Open the Manuals directory c Open the Release News e g C 663 11_Releasenews_V_x_x_x pdf on the CD of the product d Find the user name and password in the User login for software download section in the Release News e In the...

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Page 13: ...d in compliance with the technical specifications and instructions in this user manual The user is responsible for process validation 2 2 General Safety Instructions The C 863 is built according to state of the art technology and recognized safety standards Improper use can result in personal injury and or damage to the C 863 Only use the C 863 for its intended purpose and only use it if it is in ...

Page 14: ...your user manual is incomplete and is therefore missing important information property damage can result Only install and operate the C 863 after having read and understood this user manual Personnel qualification The C 863 may only be started up operated maintained and cleaned by authorized and qualified staff 2 2 2 Safety Measures during Installation Install the C 863 near the power source so th...

Page 15: ...ge the internal system settings for the C 863 in the non volatile memory when necessary Contact our customer service department p 91 if you are not sure whether a change to the system settings is necessary Selecting an incorrect stage type in the PC software can cause damage to the stage Make sure that the stage type selected in the PC software matches the stage connected 2 2 4 Safety Measures dur...

Page 16: ...an obstacle switch off the motor If possible adjust the soft limits in the software used for commanding motion to your mechanical system Determine the maximum velocity for your application If no joystick is connected to the C 863 activating the joystick in the software can cause unintentional motion of the axis connected Activate the joystick in the software only if a joystick is actually connecte...

Page 17: ...C or a programmable controller In addition to the C 863 the Mercury line comprises the successful C 663 Mercury Step stepper motor controller The controllers of the Mercury line use the same command sets and can be networked with each other The product features of the C 863 include RS 232 and USB interfaces Stand alone operation Daisy chain networking for multi axis operation Compatible and networ...

Page 18: ...ogrammable start up macro makes stand alone operation possible The automatic execution of internal instruction cycles is even performed without external communication upon switching on Four I O lines each are used at any one time to easily synchronize motion cycles with internal or external events A joystick can be connected for manual control User Friendly Comprehensive software package and two i...

Page 19: ... 11 If you want to convert a C 863 10 into a C 863 11 contact the customer service department p 91 If you want to use software that you have written for the C 863 10 with the C 863 11 read A000T0029 Technical Note For further questions contact our customer service department p 91 3 3 Product View 3 3 1 Front Panel Figure 1 C 863 Mercury DC motor controller front view Labeling Type Function RS 232 ...

Page 20: ...s switched off Mode Baud Addr 8 bit DIP switch p 42 Setting the device address the baud rate for communication with the PC the limit switch signal logic and the update mode 3 3 2 Rear Panel Figure 2 C 863 Mercury DC motor controller rear view Labeling Type Function 15 30 VDC Barrel connector socket input p 102 Connection for the supply voltage I O Mini DIN socket 9 pin p 98 Digital in outputs Outp...

Page 21: ...qualization is required the screw can be connected to the grounding system 3 4 Scope of Delivery Order Number Items C 863 11 Mercury DC motor controller C 890 PS Wide Range Power Supply for Mercury Controller 3763 Power cord C 815 34 RS 232 Null Modem Cable 3 m 9 9 pin C 862 CN Network Connecting Cable for Mercury 30 cm 000014651 USB cable type A to Mini B for connection to the PC C 663 CD1 Mercur...

Page 22: ...ck Devices Available in the detailed MS205E manual C 819 20Y Y cable for connecting 2 controllers to C 819 20 joystick C 819 30 3 Axis Analog Joystick details see Joystick Devices Available in the detailed MS205E manual C 170 PB Pushbutton Box 4 Buttons and 4 LEDs Connection to the I O socket of the C 863 sends 4 TTL input signals and displays the state of the 4 digital outputs via the LEDs C 170 ...

Page 23: ...units Supported units of length for positions and possible adaptations Possibilities for triggering motions in closed loop and open loop operation Motion commands via communication interface or from controller macros joystick control Generation of dynamics profile Calculation of target position velocity and acceleration of the axis at any point in time during the motion dynamics profile in closed ...

Page 24: ... at all times Default communication settings Interface Property Default value RS 232 Baud rate 38400 Settings for DIP switches 5 and 6 see Baud Rate p 44 Other 8 data bits and 1 stop bit without parity internal buffers do not require a handshake Daisy chain network Using a daisy chain network up to 16 controllers can be connected to the PC via a single RS 232 or USB connection Interlinking occurs ...

Page 25: ...oMove Windows Graphic user interface for Windows with which the C 863 and other controllers from PI can be used The system can be started without programming effort Graph of motions in open loop and closed loop operation Macro functionality for storing command sequences on the PC host macros Joystick support Complete environment for command entry for trying out different commands No command knowle...

Page 26: ...tware from PI The software transfers the values of the selected parameter set to the volatile memory of the controller Database file name Editable Description PIStages2 dat No updates can be downloaded from the PI website p 30 Includes parameter sets for all standard stages from PI is automatically saved to the PC during the installation of the software PI_UserStages2 dat Yes new parameter sets ca...

Page 27: ...2 Compare the contents against the items covered by the contract and against the packing list 3 Inspect the contents for signs of damage If parts are missing or you notice signs of damage contact PI immediately 4 Keep all packaging materials in case the product needs to be returned 4 Unpacking ...

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Page 29: ...he power source Only switch on the servo mode after you have modified the servo control parameter settings of the C 863 see Optimizing Servo Control Parameters p 64 If due to a very high load oscillations occur already during the reference move follow the instructions for the reference move in Troubleshooting p 85 The aim of quick start is to start in the PIMikroMove PC software initial test motio...

Page 30: ...onnecting the power cord of the wide range input power supply to the power socket 6 Start PIMikroMove on the PC 7 Establish communication between the C 863 and the PC in PIMikroMove via the RS 232 interface or the USB interface Details see Establishing Communication p 46 8 If in PIMikroMove the Select connected stages step is displayed select the stage type of the stage connected If on the right i...

Page 31: ...ows the absolute axis position If you want to start the reference move to the reference point switch click on Ref switch If you want to start the reference move to the negative limit switch click on Neg limit If you want to start the reference move to the positive limit switch click on Pos limit If a warning message appears indicating that the servo mode is switched off Switch on the servo mode by...

Page 32: ...863 Mercury Controller The axis executes the reference move Figure 3 Start up controller Start up axes 10 After a successful reference move click on OK Close Figure 4 Start up controller All axes referenced The main window of PIMikroMove opens ...

Page 33: ... 2 0 0 27 11 Start a few test motions of the axis In the main window of PIMikroMove you can execute for example steps with a certain step size by clicking the corresponding arrow keys for the axis Figure 5 Main window of PIMikroMove 1 arrow keys for motion ...

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Page 35: ...g the commands fo the GCS Various PC software applications are available for this purpose 6 1 1 Performing the Initial Installation Accessories PC with a Windows operating system XP Vista 7 or Linux operating system Product CD included in the scope of delivery Installing the PC software on Windows 1 Start the installation wizard by double clicking the icon or the setup exe file in the installation...

Page 36: ... 2 Installing Updates PI is constantly improving the PC software Always install the latest version of the PC software and the PIStages2 dat stage database Prerequisite Active connection of the PC to the Internet If your PC does not have an Internet connection You have the A000T0032 Technical Note for the PI Update Finder on hand You can find the document either on the product CD or in our Update P...

Page 37: ...ttp www pi portal ws 2 Click Downloads 3 In the User login area on the left margin enter the user name and password from the C 663 11_Releasenews_V_x_x_x pdf file on the product CD 4 Click Login 5 Click the category C Motion Controllers 6 Click C 863 C 863 11 software if you click Documents the latest versions of the corresponding manuals are displayed 7 Underneath the latest CD mirror click the D...

Page 38: ...at In this subdirectory start the INSTALL pi_stages2_dat script 6 1 3 Installing a Custom Stage Database With a custom stage you will receive if necessary a file from PI with a custom stage database You have to install this file on your PC so that you can load the parameter values for the custom stage in the C 863 Installing a custom stage database on Windows 1 Open the PI GCSTranslator directory ...

Page 39: ...unting the C 863 The C 863 can be used as bench top device or mounted in any orientation on a surface INFORMATION The C 863 is stackable and can be installed in a control cabinet Figure 6 C 863 11 Mounting strips with recesses see arrows Tools and accessories Appropriate screws see dimensional drawing p 96 Suitable screwdriver Mounting the C 863 on a surface 1 Make the necessary holes in the surfa...

Page 40: ...an be as high as the supply voltage provided by the power supply Stages without PWM amplifier are connected to these pins and can be damaged by output voltage that is too high Connect a power supply whose output voltage does not exceed the permissible operating voltage of the stage Prerequisites The power supply is not connected to the power socket via the power cord Tools and accessories Included...

Page 41: ... a PWM amplifier Separate lines on the DC Motor only socket p 97 are available for both stage versions The selection of the proper lines must be ensured via the connector of the stage With stages from PI the proper connection is ensured Prerequisite The C 863 is switched off i e the power supply is not connected to the power socket with the power cord Tools and accessories If the distance between ...

Page 42: ...nication via USB p 48 Establishing Communication for Networked Controllers p 49 INFORMATION Using a daisy chain network up to 16 controllers can be connected to the PC via a single RS 232 or USB connection 6 6 1 Connecting to the RS 232 Interface NOTICE Incorrect wiring Connecting the USB and RS 232 interfaces of the controller to the PC at the same time can damage the PC or the controller Connect...

Page 43: ...ecting the C 863 to the PC Connect the USB socket of the C 863 and the USB interface of the PC with the USB cable 6 6 3 Setting Up a Daisy Chain Network INFORMATION Interlinking in a daisy chain occurs in series See also Definition p 3 Here the first controller is connected directly to the PC INFORMATION The DIP switches of the C 863 must be set accordingly Set a unique address for each controller...

Page 44: ...ain to the PC Use the RS 232 interface p 36 or Use the USB interface p 37 INFORMATION A C 863 11 can be operated in a common daisy chain network with the following controllers C 663 11 Mercury Step stepper motor controller PILine piezomotor controllers of the C 867 series E 861 NEXACT controller 6 7 Connecting an analog joystick see detailed manual You can find information on this topic in the det...

Page 45: ...MS205Equ Version 2 0 0 39 6 9 Connecting signal sources see detailed manual You can find information on this topic in the detailed MS205E user manual which is included as a PDF file on the product CD and can be downloaded from our website p 5 ...

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Page 47: ...tacle as well as high acceleration can cause damage to or considerable wear on the mechanical system Prevent motions in open loop operation If motions in open loop operation are necessary Set the control value with the SMO command so that the axis moves with low velocity Stop the axis in time For this purpose use the 24 STP or HLT command or set the control value to zero with the SMO command Do no...

Page 48: ...k on again to activate the new settings Figure 7 DIP switches switch up ON switch down OFF Switches Function 1 to 4 Controller address p 43 16 possible combinations 5 and 6 Baud rate p 44 7 Logic level of the limit switches p 44 8 Update mode p 45 Prerequisite The C 863 is switched off i e the power supply is not connected to the power socket with the power cord Adapting the DIP switch settings Pu...

Page 49: ... OFF OFF Factory settings are shown in bold INFORMATION A unique address must be set for each controller in a daisy chain network In doing so one of the controllers must have the address 1 This controller does not have to be the one directly connected to the PC INFORMATION A non networked controller must have the address 1 if it is to be used in PIMikroMove it is to be used in LabVIEW it is to be ...

Page 50: ...h OFF Factory settings are shown in bold INFORMATION The C 863 can be adapted via DIP switch 7 and the Limit Mode parameter ID 0x18 to the logic level of the limit switches of the stage connected active high or active low In order for the stage to be able to move the DIP switch and parameter settings must correspond to the logic level of the limit switches DIP switch 7 is preset for using active h...

Page 51: ...ors servo mode On After switching on open loop operation is enabled by default servo mode Off Get the current operating mode with the SVO 4 or SRG commands Enable closed loop operation with the SVO command If necessary program a start up macro that starts the C 863 via the SVO command in closed loop operation see Setting up a start up macro in the detailed version of the user manual MS205E Prevent...

Page 52: ...our customer service department p 91 7 4 Establishing Communication The procedure for PIMikroMove is described in the following INFORMATION Use the USB Daisy Chain and RS 232 Daisy Chain tabs in the PC software for establishing communication only if you have actually connected a daisy chain network to the PC INFORMATION A non networked controller must have the address 1 if it is to be used in PIMi...

Page 53: ...controller step If the Start up controller window does not automatically open select the Connections New menu item in the main window Figure 8 Start up controller Connect controller 2 Select C 863 in the field for controller selection 3 Select the RS 232 tab on the right side of the window 4 In the COM Port field select the COM port of the PC to which you have connected the C 863 5 In the Baudrate...

Page 54: ...tart Up p 41 The C 863 is connected to the USB interface of the PC p 37 Prior to switching on the C 863 you have set the DIP switches for the controller address to the address 1 p 42 The C 863 is switched on p 45 The PC is switched on The required software and USB drivers are installed on the PC You have read and understood the manual of the used PC software The software manuals are found on the p...

Page 55: ...e Select connected stages dialog opens If communication could not be established look for a solution to the problem in Troubleshooting p 85 7 4 3 Establishing Communication for a Networked Controller The procedure for PIMikroMove and for PITerminal is described in the following INFORMATION If you are establishing communication with a networked controller via PITerminal the address of the controlle...

Page 56: ... p 37 Prior to switching on you have properly set on each networked C 863 the DIP switches for the controller address p 43 and the baud rate p 44 Every controller in the daisy chain network is switched on p 45 The PC is switched on The required software is installed on the PC p 29 If you have connected the first controller in the chain to the PC via the USB interface The USB drivers are installed ...

Page 57: ...ected the first controller in the chain to the PC via the RS 232 interface select the RS 232 Daisy Chain tab If you have connected the first controller in the chain to the PC via the USB interfaces select the USB Daisy Chain tab 4 Make the settings for the interface in the tab selected RS 232 Daisy Chain tab In the COM Port field select the PC COM port to which you have connected the C 863 In the ...

Page 58: ... 7 Click Connect to establish communication with the controller selected If communication has been successfully established the Select connected stages dialog opens Proceed further as described in Starting Motions p 55 or Close the Select connected stages window by clicking on the Cancel button 8 If you want to connect an additional controller of the daisy chain network select the Connections New ...

Page 59: ...te communication with one of the controllers of the daisy chain network In the main window select the Connections Close menu item for the corresponding controller Establishing communication with PITerminal INFORMATION Via the Mercury button PITerminal supports controllers with older firmware versions that are not compatible with GCS Make sure that the Mercury button is not enabled in PITerminal 1 ...

Page 60: ... which is set with DIP switches 5 and 6 of the C 863 FTDI USB tab Select the connected C 863 5 Click OK to establish communication 6 Send the IDN command for every controller in the daisy chain network to check the communication In the example in the following figure the daisy chain comprises one C 863 11 with the controller address 1 and one C 663 11 with the controller address 2 Send IDN to quer...

Page 61: ...l with the respective GCS commands Adapting the parameter settings of the C 863 to the connected stage by loading a parameter set from a stage database Switching on the servo mode closed loop operation Executing a reference move details see Reference Point Definition NOTICE Selection of an incorrect stage type Selecting an incorrect stage type in the PC software can cause damage to the stage Make ...

Page 62: ...ed to the volatile memory of the controller INFORMATION The C 863 has a nonvolatile memory for parameter values Therefore after switching on the correct parameter settings for the stage connected may already be loaded However if you have loaded a parameter set from the stage database and overwritten the original settings of the C 863 in the volatile memory in the process avoid saving the new setti...

Page 63: ...r application corresponding load and orientation You have connected the stage to the C 863 p 36 You have established communication between the C 863 and the PC with PIMikroMove via TCP IP RS 232 or USB p 48 Starting motions with PIMikroMove 1 If in PIMikroMove the Select connected stages step is displayed select the stage type of the stage connected If on the right in the window in the Controller ...

Page 64: ...t the controller knows the absolute axis position If you want to start the reference move to the reference point switch click on Ref switch If you want to start the reference move to the negative limit switch click on Neg limit If you want to start the reference move to the positive limit switch click on Pos limit If a warning message appears indicating that the servo mode is switched off Switch o...

Page 65: ...05Equ Version 2 0 0 59 The axis executes the reference move Figure 11 Start up controller Start up axes 3 After a successful reference move click OK Close Figure 12 Start up controller All axes referenced The main window of PIMikroMove opens ...

Page 66: ...orresponding arrow keys for the axis Figure 13 Main window of PIMikroMove 1 arrow keys for motion 7 6 Recording the Step Response With the recording of the step response you determine the settling behavior of the stage in closed loop operation The procedure for PIMikroMove is described in the following Prerequisite With PIMikroMove you have started initial motions p 55 All devices are still ready ...

Page 67: ...ata Recorder window via the C 863 Show Hide data recorder menu item Figure 14 PIMikroMove Show Hide data recorder Figure 15 PIMikroMove Data recorder 2 With the Servo check box make sure that the servo mode is switched on If the Servo check box is not checked the servo mode is switched off Check the check box to switch on the servo mode ...

Page 68: ... selected as quantities to be recorded Details see PIMikroMove user manual SM148E 4 Start the step in positive direction as well as the recording by clicking on the button The axis executes the step and the step response is recorded and displayed graphically 5 Check the displayed step response on the basis of the following figures a If the result is satisfactory i e minimum overshoot settling time...

Page 69: ...205Equ Version 2 0 0 63 Examples Figure 16 PIMikroMove Data recorder with graphical display of an optimal settling behavior commanded and actual position coincident Figure 17 PIMikroMove Data recorder with graphical display of an overshoot ...

Page 70: ...e The optimum P I D controller setting depends on your application and your requirements As a rule optimization is done empirically and involves the following parameters Details see Servo Algorithm and Other Control Value Corrections in the detailed version of the user manual MS205E P Term 0x1 I Term 0x2 D Term 0x3 I Limit 0x4 The behavior of the stage is monitored under various values in closed l...

Page 71: ... of the window Figure 19 PIMikroMove Expanded single axis window 3 Enter new values for the servo control parameters a If the parameter to be modified is not included in the list on the right side of the window click on Select parameters and add it to the list b Type the new parameter value into the appropriate input field in the list c Press the Enter key of the PC to transfer the parameter value...

Page 72: ...e new servo control parameter settings Save the new settings You have the following options Save a new parameter set in the PI_UserStages2 dat stage database on the PC See Creating or Modifying a Stage Type p 78 Transfer the current values of all parameters from the volatile to the nonvolatile memory of the C 863 p 77 ...

Page 73: ...ded as a PDF file on the product CD and can be downloaded from our website p 5 8 2 Data Recorder see detailed user manual You can find information on this topic in the detailed MS205E user manual which is included as a PDF file on the product CD and can be downloaded from our website p 5 8 3 Digital output signals see detailed user manual You can find information on this topic in the detailed MS20...

Page 74: ...loaded from our website p 5 8 6 Joystick control see detailed user manual You can find information on this topic in the detailed MS205E user manual which is included as a PDF file on the product CD and can be downloaded from our website p 5 8 7 Controller Macros see detailed user manual You can find information on this topic in the detailed MS205E user manual which is included as a PDF file on the...

Page 75: ... on this topic in the detailed MS205E user manual which is included as a PDF file on the product CD and can be downloaded from our website p 5 9 2 Target and sender address see detailed user manual You can find information on this topic in the detailed MS205E user manual which is included as a PDF file on the product CD and can be downloaded from our website p 5 9 3 Variables see detailed user man...

Page 76: ... Add and Save To Variable BRA BRA AxisID BrakeState Set Brake Activation State BRA BRA AxisID Get Brake Activation State CPY CPY Variable CMD Copy Into Variable CST CST AxisID Get Assignment Of Stages To Axes CSV CSV Get Current Syntax Version CTO CTO TrigOutID CTOPam Value Set Configuration Of Trigger Output CTO CTO TrigOutID CTOPam Get Configuration Of Trigger Output DEC DEC AxisID Deceleration ...

Page 77: ...ions HLP HLP Get List of Available Commands HLT HLT AxisID Halt Motion Smoothly HPA HPA Get List Of Available Parameters JAS JAS JoystickID JoystickAxis Query Joystick Axis Status JAX JAX JoystickID JoystickAxis AxisID Set Axis Controlled By Joystick JAX JAX JoystickID JoystickAxis Get Axis Controlled By Joystick JBS JBS JoystickID JoystickButton Query Joystick Button Status JDT JDT JoystickID Joy...

Page 78: ...ition MVR MVR AxisID Distance Set Target Relative To Current Position ONT ONT AxisID Get On Target State POS POS AxisID Position Set Real Position POS POS AxisID Get Real Position RBT RBT Reboot System RMC RMC List Running Macros RON RON AxisID ReferenceOn Set Reference Mode RON RON AxisID Get Reference Mode RPA RPA ItemID PamID Reset Volatile Memory Parameters RTR RTR RecordTableRate Set Record T...

Page 79: ...Channels TAV TAV AnalogInputID Get Analog Input Voltage TIO TIO Tell Digital I O Lines TMN TMN AxisID Get Minimum Commandable Position TMX TMX AxisID Get Maximum Commandable Position TNR TNR Get Number Of Record Tables TRO TRO TrigOutID TrigMode Set Trigger Output State TRO TRO TrigOutID Get Trigger Output State TRS TRS AxisID Indicate Reference Switch TVI TVI Tell Valid Character Set For Axis Ide...

Page 80: ...on 2 0 0 MS205Equ C 863 Mercury Controller 9 5 Error Codes see detailed user manual The error codes of the PI General Command Set are listed in the detailed MS205E user manual which is included as a PDF file on the product CD ...

Page 81: ... text file Follow the instructions in the following sections for changing the parameters in the C 863 NOTICE Improper parameter settings The values in the nonvolatile memory are loaded to the volatile memory as default values when switching on or rebooting the C 863 and take effect immediately Improper parameter settings can cause damage to the stage connected Only change parameters after careful ...

Page 82: ...he volatile memory Change the parameters in the volatile memory with the SPA command and or Change selected parameters in the volatile memory with special commands If you are working with PIMikroMove 1 In the main window of PIMikroMove open the single axis window for the connected stage by selecting the stage in the View Single Axis Window menu 2 Expand the view of the single axis window by clicki...

Page 83: ...k the parameters in the volatile memory again If you are working with PIMikroMove Write the updated values of all parameters to the non volatile memory a In the main window of PIMikroMove select the C 863 Save parameters to non volatile memory menu item b When prompted enter the password 100 Writing parameters from the nonvolatile memory to the volatile memory INFORMATION Use this procedure only i...

Page 84: ...MikroMove an existing stage type and saving it under a new name INFORMATION If a stage type with the same name is present in the PIStages2 dat and PI_UserStages2 dat stage databases the parameter settings from PIStages2 dat are always loaded when selecting the stage type in the PC software The parameter settings from PI_UserStages2 dat are not used in this case When saving stage types only assign ...

Page 85: ...h OK to load the parameter settings for the selected stage type from the stage database to the volatile memory of the C 863 Figure 20 Start up controller Select connected stages After clicking OK the Start up controller window switches to the Start up axes step 2 In the Start up axes step click on Close to close the Start up controller window 3 In the main window of PIMikroMove open the single axi...

Page 86: ...he volatile memory of the controller When this is done the entry changes its color from blue to black 6 Click the Save parameters button below the parameter list The Save Parameters as User Stage Type dialog opens 7 In the Save Parameters as User Stage Type dialog save the modified parameter values as a new stage type a Leave the entry in the Parameters of axis field unchanged b Enter the name for...

Page 87: ...fied parameter values as a new stage type a Leave the entry in the Parameters of axis field unchanged b Leave the entry in the Save as field unchanged c Click on OK d In the Stage type already defined dialog click on Change settings The Save Parameters as User Stage Type dialog closes automatically after a short time The parameter values of the stage type have been updated in the PI_UserStages2 da...

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Page 89: ...enter the case Before cleaning remove the C 863 from the power source by pulling the power plug Prevent cleaning fluid from entering the case When necessary clean the surfaces of the C 863 case with a towel that has been lightly dampened with a mild cleanser or disinfectant Do not use any organic solvents 11 2 Updating Firmware see detailed user manual You can find information on this topic in the...

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Page 91: ...r for the stage to be able to move all settings of the C 863 must correspond to the limit switch logic level of the stage see Limit Switch Detection Set DIP switch 7 appropriately see Logic Level of the Limit Switches p 44 Set the Limit Mode parameter ID 0x18 appropriately see Changing Parameters General Procedure Limit switch signals not compatible with the C 863 Stages from third party suppliers...

Page 92: ...d Stage executes unintentional motion Joystick is not connected but enabled in the C 863 Enable the joystick in the software only if a joystick is actually connected to the C 863 Joystick not calibrated Calibrate the joystick Start up macro is executed Check whether a macro is specified as a start up macro and if necessary cancel the selection of the start up macro Stage brake deactivated with the...

Page 93: ...ow menu 3 Expand the view of the single axis window by clicking on the button at the right edge of the window 4 With the Servo check box make sure that the servo mode is switched on 5 Start the reference move by clicking on one of the Reference buttons 6 If the stage is oscillating Immediately stop the reference move in the Reference Axes dialog close the dialog and switch off the servo mode by re...

Page 94: ...PC with administrator rights 2 Insert the product CD in the drive of the PC 3 Follow the instructions on the PC screen or open the Properties of PI C 863 controllers window in the appropriate manner 4 Select the drivers in the USB_Driver directory on the product CD when prompted to do so If the C 863 is still not detected by the PC after successfully installing the drivers Pull the USB cable off o...

Page 95: ...I drivers Incorrect combination of driver routines Vis Check whether the system works with a terminal program If so Read the information in the corresponding software manual and compare the sample code on the product CD with your program code LEDs do not light up even though the C 863 is switched on Firmware update mode set 1 Switch off the C 863 by pulling the power cord of the power supply 2 Set...

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Page 97: ...ve questions concerning your system have the following information ready Product codes and serial numbers of all products in the system Firmware version of the controller if present Version of the driver or the software if present Operating system on the PC if present The latest versions of the user manuals are available for downloading p 5 on our website 13 Customer Service ...

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Page 99: ...oller parameter changes on the fly Servo cycle time 50 µs Profile generator Trapezoid velocity profile Encoder input AB quadrature single ended or differential TTL signal acc to RS 422 60 MHz Stall detection Servo off triggered by programmable position error Limit switches 2 TTL polarity programmable Reference point switch 1 TTL Motor brake 1 TTL software controlled Electrical properties Max outpu...

Page 100: ...rameters as motor input voltage velocity position or position error internal safety circuitry watchdog timer Manual control Optional Pushbutton box joystick for 2 axes Y cable for 2 D motion Miscellaneous Operating voltage 15 to 30 V in the scope of delivery external power supply 15 V 2 A Max operating current 80 mA plus motor current max 3 A Operating temperature range 5 to 50 C Ground 0 3 kg Dim...

Page 101: ...d Classifications The following ambient conditions and classifications must be observed for the C 863 Area of application For indoor use only Maximum altitude 2000 m Relative humidity Highest relative humidity 80 for temperatures up to 31 C Decreasing linearly to 50 relative humidity at 40 C Storage temperature 0 C to 70 C Transport temperature 25 C to 85 C Overvoltage category II Protection class...

Page 102: ... to the PC Free COM port on the PC or USB A socket on the PC C 863 with power supply Mechanical system stage with DC motor RS 232 null modem cable or USB cable for connecting the controller to the PC Product CD with PC software 14 3 Dimensions Dimensions in mm Note that the decimal places are separated by a comma in the drawings Standard tolerance according to DIN ISO 2768 f H Roughness Ra 1 6 Fig...

Page 103: ...or stages without PWM amplifier 3 Output PWM magnitude TTL for stages with PWM amplifier 4 Output 5 V 5 Input Positive limit switch 6 GND limit switch 7 Input Encoder A 8 Input Encoder B 9 Output Motor differential power PWM for stages without PWM amplifier 10 Power GND 11 Output PWM sign TTL for stages with PWM amplifier 12 Input Negative limit switch 13 Input Reference point switch 14 Input enco...

Page 104: ...g 0 to 5V digital TTL 4 Input 4 analog 0 to 5V digital TTL 5 Output 1 digital TTL 6 Output 2 digital TTL 7 Output 3 digital TTL 8 Output 4 digital TTL 9 Vcc 5 V 14 4 3 C 170 IO Cable for Connecting to the I O Socket Mini DIN connector 9 pin male open end Figure 24 C 170 IO cable Specifications Temperature range 25 C to 85 C Nominal current 1 A AC DC Insulation resistance 50 MW min Nominal voltage ...

Page 105: ...5 purple Output 1 digital TTL 6 blue Output 2 digital TTL 7 green Output 3 digital TTL 8 brown Output 4 digital TTL 9 gray Vcc 5V Sheath Shield coated black thicker than the wire connected to pin 1 GND 14 4 4 Joystick Mini DIN socket 6 pin female PS 2 Figure 25 Front view of Mini DIN socket Pin Function 1 GND 2 Input axis 1 of joystick device 2 10 to 10 V 3 Output Vcc 3 3 V 4 Input axis 1 of joyst...

Page 106: ...rs Mini DIN connector 6 pin female on 2 Mini DIN connectors 6 pin male Mini DIN 6 pin female to joystick Signal Mini DIN 6 pin male X branch to controller 1 Mini DIN 6 pin male Y branch to controller 2 Pin 1 GND Pin 1 Pin 1 Pin 2 Button for joystick Y axis Not connected Pin 6 Pin 3 Joystick power source Pin 3 Not connected Pin 4 Joystick X axis Pin 4 Not connected Pin 5 Joystick Y axis Not connect...

Page 107: ...o PC 4 Not connected 5 GND 6 Not connected 7 Not connected 8 Not connected 9 Not connected INFORMATION The pins of the RS 232 In and RS 232 Out sockets are connected together in the C 863 1 1 INFORMATION In a daisy chain network that is connected to the PC via the RS 232 interface of the first controller only the PC feeds the RxD line Depending on how performant the RS 232 driver of the PC is the ...

Page 108: ...every signal that it receives from the PC via USB to the RxD line of the RS 232 In and RS 232 Out sockets The C 863 copies the signal of the TxD line via USB to the PC 14 4 7 Power Supply Connection 15 30 VDC Barrel connector socket Pin Function Center pin Input 15 to 30 VDC Outer conductor GND power ...

Page 109: ...he international national and local rules and regulations To meet the manufacturer s product responsibility with regard to this product Physik Instrumente PI GmbH Co KG ensures environmentally correct disposal of old PI equipment that was first put into circulation after 13 August 2005 free of charge If you have old PI equipment you can send it postage free to the following address Physik Instrume...

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Page 111: ...16 EC Declaration of Conformity C 863 Mercury Controller MS205Equ Version 2 0 0 105 16 EC Declaration of Conformity ...

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