3 Product Description
14
Version: 1.2.1
MS249E
C-863.12 Mercury Controller
3.5.4
Important Components of the Firmware
The firmware of the C-863.12 provides the following functional units:
Firmware
Component
Description
ASCII commands
Communication with the C-863.12 can be managed using the
commands of the PI General Command Set (GCS; version 2.0). The GCS
is independent of the hardware (controller, positioners connected).
Examples of the use of GCS:
▪
Configuring the C-863.12
▪
Setting the operating mode
▪
Starting motion of the positioner
▪
Getting system and position values
You can find a list of the available commands in the "Command
Overview" section (p. 120).
Parameter
Parameters reflect the properties of the positioner connected (e.g.,
travel range) and specify the behavior of the C-863.12 (e.g., settings for
the servo algorithm or for the use of the digital inputs).
Parameter values can be changed to adapt the system to the particular
application. For further information, see "Adapting Settings" (p. 231).
Write access for the parameters of the C-863.12 is defined by
command levels. After the controller is switched on or rebooted, the
active command level is always 0. On command levels > 1, write access
is only available to PI service personnel.
Profile generator and
servo algorithm
In closed-loop operation, a profile generator generates the dynamics
profile. The position error that results from the difference between the
calculated dynamics profile and the actual position (sensor feedback)
runs through a PID servo algorithm. Further information can be found
in the sections "Generation of Dynamics Profile" (p. 18), "Servo
Algorithm and Other Control Value Corrections" (p. 21) and "Motion
Triggering" (p. 16).
Data Recorder
The C-863.12 contains a real-time data recorder (p. 74). The data
recorder can record various signals (e. g., position, analog input) from
different data sources (e. g., logical axes or input channels).
Macros
The C-863.12 can store macros (p. 97). Command sequences can be
defined and stored permanently in the nonvolatile memory of the
device via the macro function. A startup macro can be defined that
runs each time the C-863.12 is switched on or rebooted. The startup
macro simplifies stand-alone operation (operation without a
connection to the PC). Further information can be found in the
"Controller Macros" section (p. 97).
The firmware can be updated with a tool (p. 249).