User Manual
E727T0005, valid for E-727
BRO, 2019-06-28
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Page 31 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email
0x0e002000. Default: The current axis position is set as the target position. For further details, see
“Parameter Overview” (p. 189). Switching from closed-loop to open-loop control sets the current
closed-loop control value as the open-loop control value.
E-727 models with EtherCAT interface: A transition to the Operation Enabled state of the drive
state machine switches the axis to closed-loop control. The axis remains in closed-loop operation
until it is switched to open-loop control by an SVO command via TCP/IP or USB interface.
The E-727 supports the following control sources:
Move commands, sent from the command line or from a macro:
MOV and MVR in closed-loop operation
SVA and SVR in open-loop operation
IMP and STE commands generate an impulse or step response
Wave Generator: The wave generator is enabled with WGO.
An offset value can be added to the wave generator output using the WOS
command.
Analog Input (only possible with E-727.3CDA, .3RDA, .3SDA models): The analog
control input is enabled via parameter settings, see "How to work with the Analog
Input" (p. 85) for more information.
An offset value can be added to the analog input scaled value using the AOS
command.
AutoZero procedure: this procedure is started by the ATZ command and performed
in open-loop operation only (if servo is on, it will be switched off automatically
during the AutoZero procedure and on again afterwards). The AutoZero procedure
has the highest priority, i.e. it will overwrite the control values given by all other
sources. When the analog control input is enabled, it will be disabled automatically
at the start of the AutoZero procedure and reenabled again when AutoZero is
finished. See "AutoZero Procedure" (p. 62) for details.
The E-727 can also be commanded via an SPI master. Depending on the SPI data segment used,
target values (with same write priority as analog control input) or GCS commands can be sent from
the SPI master. See “SPI Interface” (p. 144) for details.
E-727 models with EtherCAT interface can also be commanded by an EtherCAT master. The
EtherCAT master sends target values for closed-loop operation. The PC interfaces are disabled
when EtherCAT communication is running (OPERATIONAL state). For further details on the
interaction of the EtherCAT interface with other control sources, see "EtherCAT Interface" (p. 164).