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0x3 D term

Used in: Settings for the servo algorithm (35)

Description:

Differential constant of the PID servo algorithm.
Used for damping rapid control oscillation.
The D term can be calculated as a floating average over several ser-
vo cycles. The parameter 

0x71 (p. 193)

 (D-Term Delay) specifies how

many values (i.e., servo cycles) are to be used for calculating the
average.

Data type

INT

Command level

0

Item type

Axis

Source of data

Positioner database

Possible values

0 to 32767
The preset value of this parameter should not be changed.

0x4 I limit

Used in: Settings for the servo algorithm (35)

Description:

Limit of the integration constant.

Data type

INT

Command level

0

Item type

Axis

Source of data

Positioner database

Possible values

0 to 32767

10  PARAMETER REFERENCE

PZ285EN 

‒

 1/30/2019

177

M O T I O N   |   P O S I T I O N I N G

Summary of Contents for E-871.1A1N

Page 1: ...PZ285EN 1 30 2019 User Manual E 871 1A1N DIGITAL CONTROLLER FOR Q MOTION AND PIEZOMIKE PIEZO INERTIA DRIVES M O T I O N P O S I T I O N I N G...

Page 2: ...cessories 15 4 5 Communication Interfaces 15 4 5 1 Controlling PI Systems 15 4 5 2 E 871 1A1N Interfaces 16 4 6 Software Overview 17 4 7 Positioner Database 19 4 8 ID Chip Detection 20 4 9 Functional...

Page 3: ...necting the E 871 1A1N to a PC 51 6 6 2 Integrating into E 871 1A1N a Network 52 7 Startup Operation 53 7 1 Switching on the E 871 1A1N 53 7 2 Establishing Communication with the PC 53 7 2 1 Establish...

Page 4: ...80 8 3 5 Commands 81 8 3 6 Parameters 81 8 4 Analog Input Signals 84 8 4 1 Connecting Analog Signal Sources 84 8 4 2 Commands 85 8 4 3 Parameters 85 8 5 Controlling with HID 85 8 5 1 Operating Princip...

Page 5: ...the Firmware 210 12 Troubleshooting 214 13 Customer Service Department 217 14 Technical Data 218 14 1 Specifications 218 14 2 Maximum Ratings 219 14 3 Ambient Conditions and Classifications 219 14 4...

Page 6: ...PI or other goods and services are connected to or sponsored by National Instruments Python is a registered trademark of Python Software Foundation BiSS is a registered trademark of iC Haus GmbH The f...

Page 7: ...rasse 1 76228 Karlsruhe Germany info pi de www pi de Customer service department Physik Instrumente PI GmbH Co KG Auf der Roemerstrasse 1 76228 Karlsruhe Germany service pi de www pi de 1 LEGAL INFORM...

Page 8: ...46E Software Manual GCS Array Data Format Description SM151E Software Manual PI GCS 2 0 DLL0 SM155E Software Manual PI MATLAB Driver GCS 2 0 SM156E Software Manual PIStages3Editor Software for the man...

Page 9: ...r is stor ed 5 Value that must be entered or selected via the PC software 2 3 2 Symbols Used Symbol Label Meaning General hazard symbol Electrical voltage CAUTION Dangerous situation Failure to observ...

Page 10: ...ipped with a data storage device Log into the website a Click Login b Enter the login data The login data is in the _Releasenews_ pdf in the Manuals directory on the data storage device If necessary F...

Page 11: ...allation and operation of the E 871 1A1N Install the E 871 1A1N near the power adapter so that the power plug can be quickly and easily disconnected from the mains Use the components supplied to conne...

Page 12: ...4 Product Description 4 1 Front Panel 4 PRODUCT DESCRIPTION PZ285EN 1 30 2019 12 M O T I O N P O S I T I O N I N G...

Page 13: ...ctor socket p 225 Connector for the supply voltage Status LED Controller state Green continuous illumination E 871 1A1N ready for normal opera tion Green flashing E 871 1A1N in firm ware update mode R...

Page 14: ...r Description E 871 1A1N Digital controller according to the order C 501 24050H Wide range input power supply 24 V 50 W 3763 Power cord MS242EK Short instructions for digital motor control lers and dr...

Page 15: ...819 20 joystick C 819 30 Analog joystick for 3 axes C 170 PB Pushbutton box with 4 buttons and 4 LEDs C 170 IO I O cable 2 m open end p 224 To order contact our customer service department p 217 4 5 C...

Page 16: ...4 5 2 E 871 1A1N Interfaces The E 871 1A1N can be controlled via the following communication interfaces 4 PRODUCT DESCRIPTION PZ285EN 1 30 2019 16 M O T I O N P O S I T I O N I N G...

Page 17: ...communica tion IPSTART 0 0 The address defined by IPADR is used 1 DHCP is used to get the E 871 1A1N s ad dress Gateway IPGTWAY 000 000 000 000 Standard gateway for TCP IP communica tion MAC level add...

Page 18: ...h as C The func tions in dynamic pro gram libraries are based on the PI General Com mand Set GCS For users who would like to use a dynamic program li brary for their application Is required for PIMikr...

Page 19: ...e that can be used for nearly all PI controllers For users who want to send GCS commands directly to the controller PI Firmware Updat er Win dows Program for updating the firmware of the E 871 1A1N Fo...

Page 20: ...in the connector where the following data is stored as parameters Information on the positioner Type serial number date of manufacture version of the hardware Signal type output by the position sensor...

Page 21: ...9 2 Important Firmware Components The functional units of the E 871 1A1N s firmware are described in the following The firmware can be updated with a tool The current firmware version can be ascertai...

Page 22: ...version can be queried with the CSV command Examples of the use of GCS Configuring the E 871 1A1N Setting the operating mode Starting motion of the positioner Getting system and position values The li...

Page 23: ...e Commands 140 HPA Get List Of Available Parameters 141 V Page VER Get Versions Of Firmware And Drivers 166 Parameters 4 9 3 Commandable Items The following table contains the elements that can be com...

Page 24: ...nd and their values can be queried with the TAV command Note that these lines can also be used as digital inputs see below Additional analog input lines are located at the Joy stick socket These lines...

Page 25: ...der p 74 Controller address 1 1 to 16 The controller address can be set in the range from 1 to 16 In a daisy chain each controller must have a unique address Overall system 1 1 E 871 1A1N as an overal...

Page 26: ...t and from the following parameter Q Motion Open Loop Driving Mode 0x1F000702 Information The E 871 1A1N is intended for closed loop operation with position sensors servo mode On Servo mode is active...

Page 27: ...n closed loop operation as follows Can the target position be reached in linear mode Sequence of the motion Yes Linear mode with control value correction via PID servo algo rithm and notch filter No S...

Page 28: ...al steps Serves as criterion for switching between the fol lowing phases of the motion sequence Fast step mode slow individual steps Switching threshold 4 x parameter value Slow individual steps linea...

Page 29: ...oop operation 0x1F0007A3 PiezoMike Mode Analog step and settle switched off at the end of a commanded motion If the parameter is set 1 step mode is not switched over to linear mode at the end of motio...

Page 30: ...target position that it lies outside the exit window Specified as exit window factor for the target position parameter 0x1F0007A5 0x1F000000 Q Motion Upper Supply Voltage V Maximum output voltage for...

Page 31: ...n factor is set with the Numerator Of The Counts Per Physical Unit Factor parameter 0xE and Denominator Of The Counts Per Physical Unit Factor parameter 0xF The unit symbol can be customized for displ...

Page 32: ...per physical unit of length is set with parameters 0xE and 0xF so that the encoder counts are converted into millimeters The unit symbol for rotation stages is normally deg Examples String up to 20 c...

Page 33: ...ntrol HIN Activates or deactivates control of the E 871 1A1N s axes via the HID s axes HIA Configures HID control for the axes of the E 871 1A1N The following motion parameters of the E 871 1A1N s axe...

Page 34: ...ge FED Find Edge 131 FRF Fast Reference Move To Reference Switch 132 G Page GOH Go To Home Position 133 H Page HIA Configure Control Done By HID Axis 136 HIN Set Activation State For HID Control 138 H...

Page 35: ...fference between the commanded position and the actual position sensor feedback runs through a PID servo algorithm The servo algorithm uses the following servo control parameters P Term 0x1 I Term 0x2...

Page 36: ...ctor denominator for the servo loop Decimal number 0x94 Notch Filter Frequency 1 Hz Frequency of the first notch filter 40 to 20 000 Hz 0x95 Notch Filter Edge 1 Edge steepness of the first notch filte...

Page 37: ...d can be used to determine whether an axis has a reference point switch with direction sensing The signal from the reference point switch of the positioner can be used for reference moves The controll...

Page 38: ...o a limit switch reference point definition p 40 The following parameters can be used to configure how the E 871 1A1N detects the limit switches Limit Mode 0x18 Has No Limit Switches 0x32 Use Limit Sw...

Page 39: ...0x7000000 and Range Limit Max parameter 0x7000001 are available in the E 871 1A1N for compatibility reasons but have no function Commands Parameters 0x16 Value At Reference Position Phys Unit Position...

Page 40: ...ions The reference point definition can be performed in different ways Reference move default A reference move moves the axis to a specifically defined point e g to the reference point switch to a lim...

Page 41: ...ference Search Phys Unit parameter 0x79 are used for reference moves when both of the following conditions are met The reference move is started with FRF The Reference Signal Type parameter 0x70 has t...

Page 42: ...ration 0xC and set velocities 0x49 and 0x50 0x78 Distance From Limit To Start Of Ref Search Phys Unit Gap between the limit switch and the starting position for the reference move to the index pulse U...

Page 43: ...pect the contents for signs of damage If any parts are damaged or missing contact our customer service department p 217 immediately 5 Keep all packaging materials in case the product needs to be retur...

Page 44: ...the written consent of PHYSIK INSTRUMENTE GmbH Co KG Tolerierung ISO 8015 DIN ISO 2768 WERKST CKKANTEN WORKPIECE EDGES m K Ra Figure 3 Dimensions and position of the recesses for mounting Tools and A...

Page 45: ...act resistance 0 1 ohm at 25 A at all connection points relevant for attaching the protective earth conductor Suitable wrench Requirements You have read and understood the general safety instructions...

Page 46: ...ot connected to the power socket via the power cord or the E 871 1A1N is switched off You have read and understood the user manual of the positioner NOTICE Damage if a wrong drive type is connected Co...

Page 47: ...ation assistant for the custom positioner database by opening the Import_PI_CustomStage exe file The Import PI Custom Stage program is run and the parameter set is imported from the custom positioner...

Page 48: ...omponent and version Internet browser Operating system IP address Updating the PC Software and Positioner Database in Windows Requirements Active connection to the Internet You have installed the PI U...

Page 49: ...es appear at the end of the list e Click OK to finalize input of the installation directory If PI software is found in the specified directories it will by displayed in the table on the initial screen...

Page 50: ...hield Wizard Updating the Software on a PC without Internet Connection 1 Connect a portable data storage device e g a USB stick to your PC 2 Run the PI Update Finder 3 In the main window click the Use...

Page 51: ...file and decide whether the update makes sense for your application If no Stop the update procedure If yes Go through the following steps 11 Log into the PC as superuser root privileges 12 Install th...

Page 52: ...network cable Requirements A network access point is available for the E 871 1A1N The default settings of the TCP IP interface p 17 do not collide with the settings of other devices in the network Int...

Page 53: ...ggle switch on the front panel to the position to switch the E 871 1A1N on The E 871 1A1N boots the firmware and loads information from the nonvolatile memory to the volatile memory 3 Wait until the S...

Page 54: ...ablished look for a solution to the problem in the Troubleshooting p 214 chapter If communication was established successfully PIMikroMove guides you through the configuration of the E 871 1A1N for th...

Page 55: ...he factory settings of the E 871 1A1N interface parameters is required You can begin with setup of the communication p 57 Network without DHCP server or direct connection of the E 871 1A1N to the PC s...

Page 56: ...ile memory of the E 871 1A1N by clicking Store The Store interface settings dialog opens 6 Click Store settings in the Store interface settings dialog The dialog closes The settings were stored in the...

Page 57: ...hand side of the window The software now searches in the network for all controllers of the type E 871 If the search was successful all E 871 controllers in the same network are displayed in the PI C...

Page 58: ...0x0F000100 The value was loaded from the ID chip of the connected positioner when the E 871 1A1N was switched on Possible configuration steps If the values of the parameters 0x3C and 0x0F000100 are no...

Page 59: ...stop the motion immediately NOTICE Selection of an incorrect positioner type Selection of an incorrect positioner type in the PC software can cause damage to the positioner Make sure that the positio...

Page 60: ...want to load the parameter settings into the E 871 1A1N in the Save all changes permanently dialog box Temporary load Click Keep the changes temporarily to load the parameter settings into the volati...

Page 61: ...on the servo mode by clicking on the Switch on servo button in the warning message The Reference Axes dialog appears after switching servo mode on Figure 6 The figure shows example settings that may...

Page 62: ...ilter corrects the control value for the drive of the positioner connected to the E 871 1A1N The corrections by the notch filter take place in closed loop and open loop operation The frequency compone...

Page 63: ...Recorder window a Use the Servo checkbox to make sure that servo mode is switched off If the Servo checkbox is checked uncheck to switch servo mode off b Set the number of data points to be read for...

Page 64: ...ep and the step response is recorded and displayed graphically 6 Calculate the FFT Fast Fourier Transformation of the step response a Display the Data Toolbar via the button b Click the button to calc...

Page 65: ...al size a Display the cursors in the graphical display by clicking the button b Activate the cursor movement with the mouse by clicking the button c Click the Go to max values button to position curso...

Page 66: ...t field in the Active Value column of the list The value of the Notch Filter Frequency 1 parameter must be set to the previously determined resonant frequency If two resonant frequencies were determin...

Page 67: ...rs Adjusting the PID controller optimizes the dynamic properties of the system overshoot and settling time The optimum PID controller setting depends on your application and your requirements Typicall...

Page 68: ...r of data points to be read for the graphical display max 8192 in the of data points field c Set the amplitude of the step to be performed to a value that is typical for your application specified as...

Page 69: ...axis window of the connected positioner in the main window of PIMikroMove Click on the corresponding line of the Axes tab with the right mouse button and select the Show Expanded Single Axis Window i...

Page 70: ...e all currently active axis parameters as startup parameters to controller 7 5 Making Data Backups Saving the Parameter Set to the Positioner Database 1 Click Load and Save Parameters Save parameters...

Page 71: ...ols Command entry in the main window or press F4 on the keyboard After communication has been established the main window is opened in PITerminal automatically and commands can then be sent 2 Query th...

Page 72: ...E 871 1A1N 1 Select the Controller macros tab in PIMikroMove s main window 2 Load macros from the PC to the E 871 1A1N a Click the button to open a file selection window b Select the text files Makron...

Page 73: ...N If a system error occurs the E 871 1A1N reacts as follows After a certain delay the safety function of the Watchdog Timer initiates a reboot of the E 871 1A1N 8 1 3 Restoring Operational Readiness R...

Page 74: ...recorder table 1 Record option 1 Commanded position of the axis Data recorder table 2 Record option 2 Current position of the axis Data recorder table 3 Record option 3 Position error of the axis Data...

Page 75: ...L Get Number Of Recorded Points 128 DRR Get Recorded Data Values 128 DRT Set Data Recorder Trigger Source 129 DRT Get Data Recorder Trigger Source 130 H Page HDR Get All Data Recorder Options 134 R Pa...

Page 76: ...s an optional accessory Information Digital TTL input signals can be fed to the E 871 1A1N via pins 1 2 3 and 4 of the I O socket The digital inputs can be used as follows Use in macros Source for the...

Page 77: ...and specifying the motion direction of the axis positive or negative Information If start and stop values have the same value they are ignored If the direction of motion is reversed before the axis po...

Page 78: ...d TRO TrigOutID 1 Example Digital output 1 is to be active when axis 1 of the mechanics is in motion Send CTO 1 2 1 CTO 1 3 6 TRO 1 1 Setting Up Position Offset Trigger Mode The Position Offset trigge...

Page 79: ...tting Up Single Position Trigger Mode In the Single Position trigger mode the selected digital output line is active when the axis position has reached or exceeded a specified position TriggerPosition...

Page 80: ...igital Input as Reference Signal Information The Has Reference parameter 0x14 has no influence on the use of a digital input line as the source of the reference signal 1 Select the source of the refer...

Page 81: ...s for HID control Axis 3 Pins 1 and 2 TTL signals Axis 4 Pins 3 and 4 TTL signals These HID axes can be used to control the relative target position of the axis connected to the E 871 1A1N 8 3 5 Comma...

Page 82: ...closed loop operation The values of every parameter whose unit is either the physical unit of length itself or a unit of measurement based on it are automatically adapted to the set factor The factor...

Page 83: ...o the set factor The factor for the counts per physical unit of length has no impact on the stability of the servo loop but is used for the input and output scaling of position values Decimal number 0...

Page 84: ...number digital input lines bit mapped 0x60 Invert Digital Input Used For Positive Limit Inverts the signal logic of the digital inputs used as the source of the positive limit switch signal Decimal n...

Page 85: ...Parameters 8 5 Controlling with HID HID Human Interface Device denotes an input or output device that is connected to the E 871 1A1N and is intended for operating it manually Typical HIDs are joystic...

Page 86: ...ints in the lookup tables Use the HIN command to activate deactivate HID control of the axes connected to the E 871 1A1N The HIN command queries the activation state of HID control When HID control is...

Page 87: ...ter connecting it to the E 871 1A1N If the response behavior of the HID s axes does not meet your requirements it is possible to calibrate its axes HID control can be set up and activated after testin...

Page 88: ...Press the HID s buttons and at the same time watch the status indicators in the State of buttons area c Enter various values into the fields in the State of LEDs area if any and at the same time watc...

Page 89: ...es 1 If necessary open the window for configuring HID control via the E 871 1A1N Configure controller HIDevice s menu item in PIMikroMove s main window The Configure Human Interface Devices window ope...

Page 90: ...lider accordingly e If the values in the user defined lookup table are to describe a parabolic waveform click the Parabolic curve checkbox f Click OK in the Controller Joystick Calibration window to c...

Page 91: ...Motion of the axis relative to the current position Before activating HID control the following steps are recommended Testing the HID Calibrating the HID axes See Testing the HID and Calibrating the...

Page 92: ...rolled by the HID according to the settings made 6 If you want to save the new settings for HID control to the E 871 1A1N s nonvolatile memory continue as described in Saving the Configuration of HID...

Page 93: ...a macro can be linked to conditions In this way loops can be realized as well Macros can call up themselves or other macros at several nesting levels Variables can be set for the macro and in the macr...

Page 94: ...croname macro line by line using the normal command syntax Macros can call up themselves or other macros at several nesting levels 3 End the macro recording If you are working with PITerminal or in PI...

Page 95: ...he MAC START macroname string where macroname is the name of the macro If the macro is to be run n times send the MAC NSTART macroname n string command where macroname is the name of the macro and n i...

Page 96: ...ny other value for the number of executions Example macro Realizing multiple calls of a macro in a loop The TESTDION macro checks the status of the digital input lines on the I O socket It uses a loca...

Page 97: ...the E 871 1A1N s parameter settings should be adapted to the connected positioner in the nonvolatile memory Alternatively the parameter settings can also be configured in the volatile memory via the s...

Page 98: ...O socket to an appropriate signal source The digital input signal can be used e g for a conditional jump of the macro execution pointer 2 Record the HALT macro on the controller MAC BEG halt MVR 1 5...

Page 99: ...x are to be used for the following tasks Button 1 Starting a relative motion in the positive direction when HID control is disabled Button 2 Starting a relative motion in the negative direction when H...

Page 100: ...Record the BUTTON1 macro on the controller MAC BEG button1 MEX DIO 1 0 MVR X 1 WAC ONT X 1 MAC END The macro has the following tasks If button 1 is not pressed End the execution of BUTTON1 If button 1...

Page 101: ...gain with button 4 8 6 8 Commands Page 24 Stop All Axes 119 8 Query If Macro Is Running 119 A Page ADD Add And Save To Variable 120 C Page CPY Copy Into Variable 120 D Page DEL Delay The Command Inter...

Page 102: ...termination character character at the end of a command line Space ASCII character 32 empty space Horizontal tab ASCII character 9 Single character command indicates the ASCII character in decimal no...

Page 103: ...te Zeile nicht ausgef hrt 1 Send MOV 1 17 3 2 2 05 Axis 1 moves to position 17 0 physical unit axis 2 moves to position 2 05 physical unit Sending commands without arguments The position of all axes i...

Page 104: ...es when switching on or rebooting the E 871 1A1N The values in the volatile memory determine the current behavior of the system The designation Active Values is used for the parameter values in the vo...

Page 105: ...back to the E 871 1A1N in PIMikroMove or PITerminal The Send file button is available for this purpose in the send command window Before loading into the E 871 1A1N the individual lines of the text fi...

Page 106: ...evels 1 write access is only available to PI service personnel Changing Parameter Values 1 If you want to change the axis related parameters of the E 871 1A1N a Open the expanded single axis window fo...

Page 107: ...mouse button outside of the input field The changed parameter value is transferred to the E 871 1A1N s volatile memory b Click Load and Save Parameters Save all currently active axis system parameter...

Page 108: ...communication between the E 871 1A1N and the PC Creating a Parameter Set for Positioners 1 Select the E 871 1A1N Select connected stages menu item in the main window of PIMikroMove The Start up stage...

Page 109: ...ter new values for the parameters to be changed a If the parameter to be modified is not included in the list on the right hand side of the window click Configure view Select parameters and add it to...

Page 110: ...n the positioner database The displayed positioner type was updated in PIMikroMove The new positioner type is also available immediately for selection in the Select connected stages step Changing a Po...

Page 111: ...w changes to the Start up axes step 4 Click Close to close the Start up stages axes window 5 Open the expanded single axis window for the selected positioner in the main window of PIMikroMove by click...

Page 112: ...ter value in the nonvolatile memory Startup Value column the line in the list is highlighted in color 7 Click Load and Save Parameters Save parameters to stage database 8 The Save Parameters as User S...

Page 113: ...Get Configuration Of Trigger Output 124 D Page DEL Delay The Command Interpreter 124 DFH Define Home Position 125 DFH Get Home Position Definition 125 DIO Set Digital Output Lines 126 DIO Get Digital...

Page 114: ...lable Commands 140 HLT Halt Motion Smoothly 141 HPA Get List Of Available Parameters 141 HPV Get Parameter Value Description 141 I Page IFS Set Interface Parameters As Default Values 142 IFS Get Inter...

Page 115: ...Reference Mode 155 RON Get Reference Mode 155 RPA Reset Volatile Memory Parameters 156 RTR Set Record Table Rate 156 RTR Get Record Table Rate 156 S Page SAI Set Current Axis Identifiers 157 SAI Get...

Page 116: ...Tables 164 TRO Set Trigger Output State 165 TRO Get Trigger Output State 165 TRS Indicate Reference Switch 165 TVI Tell Valid Character Set For Axis Identifiers 166 V Page VAR Set Variable Value 166...

Page 117: ...atusRegister System status information HEX StatusRegister is bit mapped Includes per axis Bit Description 15 On target state 14 Reference point definition is running 13 In motion 12 Servo mode activat...

Page 118: ...1 are moving 7 Request Controller Ready Status Used in 24 Description Queries the controller s ready state Long description The controller is ready as soon as a new command can be executed Format 7 7...

Page 119: ...FRF p 132 and macros Also stops the macro Sets the error code to 10 After the axes are stopped their target positions are set to their cur rent positions The function of this command is identical to S...

Page 120: ...and level is always 0 when the electronics are switched on or rebooted Format CCL Level PSWD Arguments Level Controller command level UINT PSWD Password for changing to the corresponding command level...

Page 121: ...ctivated Format CST AxisID Arguments AxisID Axis ID Response AxisID String AxisID Axis ID String Name of the positioner type STRING CSV Get Current Syntax Version Used in 22 Description Get current GC...

Page 122: ...the distance set with TriggerStep CTOPam 1 2 OnTarget The on target status of the se lected axis is transferred to the selected digital output line 5 MotionError The selected digital output line becom...

Page 123: ...can be fixed 7 Polarity 0 Sets the signal polarity to ac tive low 1 Sets the signal polarity to ac tive high default value 8 StartThresh old Position value Trigger output start position for the follow...

Page 124: ...er Format CTO TrigOutID CTOPam Arguments TrigOutID Digital output of the electronics CTOPam CTO parameter ID If no arguments are specified the response contains the values for all parameters and all o...

Page 125: ...is Format DFH AxisID Arguments AxisID Axis ID The zero positions for all axes will be newly defined if no arguments are specified Troubleshooting Illegal axis identifier DFH Get Home Position Definiti...

Page 126: ...s of the digital output line BOOL DIO Get Digital Input Lines Used in Digital Input Signals 80 Description Queries the status of a digital input line Long description Use TIO p 163 to query the number...

Page 127: ...manded velocity of axis 71 Commanded acceleration of axis 73 Motor output of axis 74 Kp of axis 75 Ki of axis 76 Kd of axis 80 Signal status register of axis 81 Analog input 86 Number of fifo values 8...

Page 128: ...le Response RecTableID uint RecTableID Data recorder table uint Number of saved points UINT DRR Get Recorded Data Values Used in Reading data out 75 Description Gets the last recorded data Long descri...

Page 129: ...ue is a dummy 2 next command Resets the trigger afterwards Value is a dummy 3 external trigger Data recording is triggered with a digital output line Value is the ID of the digital output line 6 any c...

Page 130: ...r source for all available data recorder tables TriggerSource ID of the trigger source Value Depends on the trigger source ERR Get Error Number Used in Restoring the E 871 1A1N s Operational Readiness...

Page 131: ...arameters 0x70 p 192 0x78 p 194 0x79 p 195 You can use the digital input lines instead of the switches as source of the switch signals for FED FED can be used to measure the physical travel range of a...

Page 132: ...a reference point switch but instead only limit switches Format FRF AxisID Arguments AxisID Axis ID If multiple axes are specified in the command they are moved syn chronously If not arguments are sp...

Page 133: ...entifier Servo mode not active SVO p 163 responds with the value 0 HAR Indicate Hard Stops Used in Reference point definition options 40 Description Queries whether the hard stops of the specified axi...

Page 134: ...s TriggerOption DescriptionString Parameters to be set with SPA ParameterID DescriptionString Additional information CommandDescription Command Sources for Record Options RecOption Source end of help...

Page 135: ...mat HDT HIDeviceID HIDeviceAxis Arguments HIDeviceID Identifier of an HID connected to the electronics HIDeviceAxis HID axis Response HIDeviceID HIDeviceAxis HIDTableID HIDeviceID Identifier of an HID...

Page 136: ...from a lookup table value that corresponds to the current displacement and maximum velocity pa rameter 0x74 or 0x49 if the value of 0x74 is 0 4 Maximum velocity of the axis Product from a lookup table...

Page 137: ...eAxis HID axis HIB Get State Of HID Button Used in HID Control Configuration 86 Description Queries the current state of the specified button of the specified HID Format HIB HIDeviceID HIDeviceButton...

Page 138: ...Activation State For HID Control Used in HID Control Configuration 86 Motion in closed loop operation 32 Description Sets the status of HID control for the specified axis Long description Servo mode...

Page 139: ...ment HIDPropID Property of the operating element HIDPropValue The property of the operating element is set to this value STRING Possible values HID PropID HID Prop Value Description Ax is_ x HID axis...

Page 140: ...e lookup table for an HID controlled axis The HDT p 134 command assigns the lookup tables to HID axes Format HIT HIDTableID HIDTableAddr HIDTableValue Arguments HIDTableID Lookup table identifier HIDT...

Page 141: ...cription Format HPA Response List of available parameters HPV Get Parameter Value Description Description Displays a help text that contains possible parameter values Format HPV Response Possible para...

Page 142: ...e memory RAM Possible values InterfacePam PamValue Description RSBAUD 9600 19200 38400 57600 or 115200 Baud rate for the RS 232 interface IPADR UINT UINT UIN T UINT 50000 IP address and port for the T...

Page 143: ...e InterfacePam Interface parameters STRING PamValue Parameter value in the nonvolatile memory Possible values for InterfacePam Interfa cePam Description RSBAUD Baud rate for the RS 232 interface IPADR...

Page 144: ...ump CMD Query command that responds with a single val ue OP Relational operator Value Relational value with CMD Troubleshooting Wrong jump target Jump specified Wrong relational operator OP specified...

Page 145: ...ro Function BEG Used in 94 Description Start recording a macro Long description Recording is stopped by MAC END p 146 Format MAC BEG MacroName Arguments MacroName Macro name MAC DEF Call Macro Functio...

Page 146: ...e of the macro uint1 Line in the micro where the error occurred uint2 Error code CMD Bad command MAC NSTART Call Macro Function NSTART Used in 95 Description Runs the specified macro several times Lon...

Page 147: ...mat MAC MacroName Arguments MacroName Name of a macro If no arguments are specified the names of all saved macros are lis ted Response String String Content of the macro or list of the names of all sa...

Page 148: ...ecked If the condition is fulfilled at a later time it is ignored by the parser Can only be used in macros Possible relational operators OP Description Equal Not equal Smaller than or equal Smaller th...

Page 149: ...oft limits The motion can be stopped by 24 p 119 STP p 162 and HLT p 141 Format MOV AxisID Position Arguments AxisID Axis ID Position Absolute target position in physical units Troubleshooting Illegal...

Page 150: ...et position outside of the soft limits HID control is enabled OMA Absolute Open Loop Motion Used in Motion in open loop operation 33 Description Moves the specified axis to the specified absolute posi...

Page 151: ...position Motion is performed in open loop nanostepping mode The velocity in open loop step mode is controlled via the step frequency param eter 0x1F000400 Servo mode must be switched off for the spec...

Page 152: ...egal axis identifier Servo mode not active SVO p 163 responds with the value 0 OSM Open Loop Step Moving Used in Motion in open loop operation 33 Description Moves the specified axis by the specified...

Page 153: ...n Sets the current position of the axis does not cause motion Long description POS can only be used when the reference point definition mode is set to 0 p 155 The minimum TMN p 164 and maximum TMX p 1...

Page 154: ...shooting Illegal axis identifier RBT Reboot System Used in Controller Macros 93 Description Restarts the electronics Long description The electronics behave in the same way after restarting as they do...

Page 155: ...been defined yet 1 A reference move must be done with FRF p 132 also FNL or FPL if supported by the controller for the reference point defini tion POS p 153 is not permitted Motion in closed loop ope...

Page 156: ...ate of the data recorder Long description The recording rate multiplied by the cycle time of the electronics re sults in the recording interval of the data recorder Settings greater than 1 allow recor...

Page 157: ...ALL Arguments ALL Ensures that electronics that allow axes to be de activated parameter 0x3C p 186 NOSTAGE also allow deactivated axes to be queried Response AxisID AxisID Axis ID SEP Set Non Volatil...

Page 158: ...alue Used in Motion in open loop operation 33 Description Sets the control value of an axis Long description Profile generator sensor feedback and servo algorithm are not tak en into consideration Ser...

Page 159: ...ue Arguments ItemID Element of the electronics PamID Parameter ID PamValue Parameter value Troubleshooting Impermissible element identifier Wrong parameter ID SPA Get Volatile Memory Parameters Used i...

Page 160: ...lue HEX StatusRegister is bit mapped It comprises Bit Description 15 On target state 14 Reference point definition is running 13 In motion 12 Servo mode activated 11 10 Sensor signal valid 9 Reference...

Page 161: ...ng Illegal axis identifier Illegal value SST Get Step Size Used in HID Control Configuration 86 Description Queries the distance to be travelled for relative motion triggered by an HID Long descriptio...

Page 162: ...e of the soft limits HID control is enabled STP Stop All Axes Used in 96 Triggering Motion 32 Description Stops all axes abruptly Long description Stops all motion started by motion commands e g MOV p...

Page 163: ...4 Analog Input Signals 84 Description Queries the voltage at the analog input Format TAV AnalogInputID Arguments AnalogInputID is the identifier of an analog input channel Response AnalogInputID float...

Page 164: ...Position Description Queries the maximum commandable position Long description The maximum commandable position is defined by parameter 0x15 p 181 Format TMX AxisID Arguments AxisID Axis ID Response A...

Page 165: ...trigger output state for a a digital output line Format TRO TrigOutID Arguments TrigOutID Digital output of the electronics If no arguments are specified the state of all digital output lines is queri...

Page 166: ...unning the Macros 95 Description Queries the value of a variable Long description Local variables can only be queries when a macro is running that contains local variables Format VAR Variable Argument...

Page 167: ...alue according to a specified rule Can only be used in macros Possible relational operators OP Description Equal Not equal Smaller than or equal Smaller than Larger than or equal Larger than Format WA...

Page 168: ...parameters HID Saves the current valid settings for HDT p 134 HIA p 136 and HIT p 140 Wrong values can lead to faulty operation or damage to the hard ware Notice Note that the number of write cycles i...

Page 169: ...x8 Maximum Position Error Phys Unit Maximum position error Used by controllers that support a dynamic profile parameter 0x1B 5 for detecting motion error 0x9 Maximum Motor Output Maximum control value...

Page 170: ...hys Unit Soft limit in positive direction in relation to the zero position The positive travel range limit cannot be used for reference moves if this value is smaller than the position value for the p...

Page 171: ...ctivates motion stop at the installed limit switches 0 Mechanics have limit switches 1 Mechanics do not have limit switches 0x33 Motor Offset Positive Drive offset for the positive direction of motion...

Page 172: ...rt Digital Input Used For Positive Limit Inverts the signal logic of the digital inputs used as the source of the positive limit switch signal Decimal number digital input lines bit mapped 0x61 Invert...

Page 173: ...the digitized signals of the incremental sensor 0x3003305 Sensor Digital Phase Deg Phase correction for the signals of the incremental sensor 0x3003306 Sensor Analog Gain dB Gain value for correcting...

Page 174: ...he drive 0x1F000100 Q Motion Lower Supply Voltage V Minimum output voltage for piezo inertia drives The value depends on the type of the drive 0x1F000200 Q Motion Forward Current A Maximum output curr...

Page 175: ...the on target signal is output if necessary after a delay time parameter 0x1F0007AA 0x1F0007A5 PiezoMike Exit Window Phys Unit Exit window of the target position for motion in closed loop operation De...

Page 176: ...not used The value should not be 0 0x1F0007AA PiezoMike On Target Delay Servo Cycles Delay time for output of the on target signal 0x1 P term Used in Settings for the servo algorithm 35 Description Pr...

Page 177: ...ervo cycles are to be used for calculating the average Data type INT Command level 0 Item type Axis Source of data Positioner database Possible values 0 to 32767 The preset value of this parameter sho...

Page 178: ...ontrollers that support a dynamic profile parameter 0x1B p 183 5 for detecting motion error Data type FLOAT Command level 0 Item type Axis Source of data Positioner database 0x9 Maximum Motor Output D...

Page 179: ...of data Positioner database Possible values Decimal number 0xF Denominator Of The Counts Per Physical Unit Factor Used in Physical Units 31 Setting Up Position Distance Trigger Mode 77 Setting Up Posi...

Page 180: ...ce Used in Reference Point Switch Detection 37 Using Digital Input as Reference Signal 80 Description Do the mechanics have a reference point switch Activates respectively deactivates reference moves...

Page 181: ...database Possible values The value can be negative 0x16 Value At Reference Position Phys Unit Used in Settings for the travel range 39 Description Position value at the reference point switch The cur...

Page 182: ...if the axis has done a ref erence move to the negative travel range limit Data type FLOAT Command level 0 Item type Axis Source of data Positioner database 0x18 Limit Mode Used in Limit Switch Detecti...

Page 183: ...Phys Unit Used in Settings for the travel range 39 Description Gap between the reference point switch and the positive travel range limit If the axis has done a reference move to the positive travel r...

Page 184: ...mmand level 0 Item type Axis Source of data Positioner database Possible values The value can be negative 0x31 Invert Reference Used in Reference Point Switch Detection 37 Using Digital Input as Refer...

Page 185: ...ics have limit switches 1 Mechanics do not have limit switches 0x33 Motor Offset Positive Description Drive offset for the positive direction of motion Data type INT Command level 0 Item type Axis Sou...

Page 186: ...Source of data Positioner database Possible values 0 to 231 encoder counts 0x3C Stage Name Used in 24 Description Positioner name Default value NOSTAGE Data type CHAR Command level 0 Item type Axis So...

Page 187: ...matic detection 1 Negative direction 2 Positive direction 0x48 Motor Drive Offset Description Velocity dependent drive offset Used if the commanded velocity does not equal zero i e if the end of the d...

Page 188: ...ommand level 0 Item type Axis Source of data Positioner database Possible values 0 Supply voltage deactivated 1 Supply voltage activated default setting 0x5A Numerator Of The Servo Loop Input Factor U...

Page 189: ...e signal source for reference moves Data type INT Command level 0 Item type Axis Source of data Positioner database Possible values Decimal number digital input lines bit mapped 0x5D Source Of Negativ...

Page 190: ...digital inputs that serve as sources of the negative limit switch signal Data type INT Command level 0 Item type Axis Source of data Positioner database Possible values Decimal number digital input li...

Page 191: ...nverted 0x63 Distance Between Limit And Hard Stop Phys Unit Used in Reference move procedure 40 Description Gap between internal limit switch and hard stop Determines the maximum stopping distance dur...

Page 192: ...via the negative travel range limit 3 Index pulse The reference point switch is approached via the positive travel range limit 4 No reference signal Is only evaluated by the electronics that do not s...

Page 193: ...a type INT Command level 0 Item type Axis Source of data Positioner database 0x72 Ignore Macro Error Used in 95 Description Ignore macro error Data type INT Command level 0 Item type System Source of...

Page 194: ...t switches for stopping at the end of the travel range and for reference moves default 1 Use limit switches for reference moves only 0x78 Distance From Limit To Start Of Ref Search Phys Unit Used in R...

Page 195: ...rd stops be used for reference moves Data type INT Command level 0 Item type Axis Source of data Positioner database Possible values 0 Do not use hard stops for reference moves 1 Use hard stops for re...

Page 196: ...003300 Sensor Interpolation Description Interpolation rate for the signals of the incremental sensor Data type FLOAT Command level 2 Item type Axis Source of data ID chip of the mechanics 0x3003301 Se...

Page 197: ...n Offset 0 for correcting the digitized signals of the incremental sen sor Data type FLOAT Command level 2 Item type Axis Source of data ID chip of the mechanics 0x3003304 Sensor Digital Offset 1 V De...

Page 198: ...in value for correcting the analog signals of the incremental sen sor Data type FLOAT Command level 2 Item type Axis Source of data ID chip of the mechanics 0x3003307 Sensor Analog Offset 0 V Descript...

Page 199: ...axis can move again as soon as the value for the soft limit has been decreased Data type FLOAT Command level 0 Item type Axis Source of data Positioner database 0x7000001 Range Limit Max Description...

Page 200: ...oder count 100 nm Counts per physical unit of length 10000 1 unit symbol mm 1 Encoder count 0 254 mm Counts per physical unit of length 100 1 unit symbol inch Data type CHAR Command level 0 Item type...

Page 201: ...e Data type CHAR Command level 2 Item type Axis Source of data ID chip of the mechanics Possible values x xxx default positioners x xxxKxxx customized positioners 0xF000200 Stage Serial Number Descrip...

Page 202: ...rdware Data type INT Command level 2 Item type Axis Source of data ID chip of the mechanics 0x1F000000 Q Motion Upper Supply Voltage V Used in 28 Motion in closed loop operation 27 Servo mode 26 Descr...

Page 203: ...or piezo inertia drives during forward mo tion Data type FLOAT Command level 1 Item type Axis Source of data Positioner database Possible values The value depends on the type of the drive 0x1F000300 Q...

Page 204: ...ge Cycle Description Duty cycle of the current source during output of a step Specified as part of a period which the current source is switched on for Data type FLOAT Command level 1 Item type Axis S...

Page 205: ...sed in Servo mode 26 Description Drive mode for piezo inertia drives in open loop operation This parameter is evaluated when motion is started in open loop operation The value of the parameter has no...

Page 206: ...values 0 Analog step and settle at the end of a commanded motion Commanded motion is done in step mode until the entrance window is reached for linear mode parameter 0x1F0007A7 p 208 Motion continues...

Page 207: ...0x1F0007A5 PiezoMike Exit Window Phys Unit Used in Motion in closed loop operation 27 Description Exit window of the target position for motion in closed loop opera tion Defines a tolerance range aro...

Page 208: ...inear mode for motion in closed loop opera tion Commanded motion is done in step mode until the entrance win dow for linear mode is reached Motion continues in linear mode until the entrance window fo...

Page 209: ...1 Item type Axis Source of data Positioner database Possible values Specified as exit window factor for the target position parameter 0x1F0007A5 p 207 0x1F0007A9 PiezoMike Single Step Counter Value D...

Page 210: ...updating the E 871 1A1N s firmware The figures show the procedure for any electronics the procedure for the E 871 1A1N corresponds Requirements You have connected the E 871 1A1N to the PC via the RS...

Page 211: ...71 1A1N flashes as long as the E 871 1A1N is in firmware update mode 2 Close PIMikroMove respectively PITerminal 3 Run PI Firmware Updater on the PC The PI Firmware Updater window opens 4 Set the foll...

Page 212: ...esets all parameters to their factory settings and deletes all controller macros Consequently parameter values and controller macros that are not saved are lost during the initialization process 2 On...

Page 213: ...ved controller macros on the PC Load the controller macros into the E 871 1A1N see Loading Controller Macros from the PC into the E 871 1A1N p 72 11 MAINTENANCE PZ285EN 1 30 2019 213 M O T I O N P O S...

Page 214: ...service department or the manufacturer of the positioner Incorrect configuration Check the parameter settings of the E 871 1A1N with the SPA volatile memory and SEP nonvolatile memory commands and ma...

Page 215: ...871 1A1N when establishing communication If you cannot solve the problems consult your network administrator if necessary Another program is accessing the interface Close the other program The start p...

Page 216: ...re that the E 871 1A1N is connected to the power supply and the power cord is not de fective Switch on the E 871 1A1N If the problem is not listed in the table or cannot be solved as described contact...

Page 217: ...f the controller if applicable Version of the driver or the software if applicable Operating system on the PC if applicable If possible Take photographs or make videos of your system that can be sent...

Page 218: ...able to 20000 Interpolation electronics preset for differential transmission 1 Vpp and 2 5 V encoder signal offset BiSS interface for absolute encoders Stall detection Automatic motor stop Input limit...

Page 219: ...24 V DC 2 5 A 14 3 Ambient Conditions and Classifications The following ambient conditions and classifications for the E 871 1A1N must be observed Area of application For indoor use only Maximum alti...

Page 220: ...s intendedonly for the use of the individual or entity to whom it is sent Individual or entity agrees to not disseminate or copy this information to anyone other than originally specified without the...

Page 221: ...n order to fulfil the responsibility as the product manufacturer PI undertakes environmentally correct disposal of all PI equipment free of charge if it was made available to the market after August 1...

Page 222: ...switch 6 ID_CHIP Bidirectional Data line for ID chip 7 ENCA Encoder channel A differential 8 ENCB Encoder channel B differential 9 PIEZO Motor signal 10 GND Ground 11 PIEZO Motor signal 12 NLIM Negati...

Page 223: ...TL 3 Input 3 analog 0 to 5 V digital TTL 4 Input 4 analog 0 to 5 V 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 Shield Ground The m...

Page 224: ...gital 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 16 1 4 Joystick Connector Figure 13 Joystick c...

Page 225: ...controller 3 TxD controller to PC 4 Not connected 5 GND 6 Not connected 7 Not connected 8 Not connected 9 Not connected 16 1 6 Power Adapter Connector Pin Signal Function Center pin V Input Power supp...

Page 226: ...th the following European directives Low Voltage Directive EMC Directive RoHS Directive The standards applied for certifying conformity are listed below Safety Low Voltage Directive EN 61010 1 EMC EN...

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