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Step mode

The drive electronics of the E-871.1A1N convert the control value to a modified sawtooth
signal with a maximum frequency of 25 kHz and output the corresponding piezo voltage. The
piezo voltage generates a cyclic alternation of static and sliding friction between the moving
rod and the piezo actuator and therefore a continuous feed of the rod. The output of one
period of the modified sawtooth signal generates one "step" of the rod.
The travel range is only limited by the physical limits of the positioner.

Linear mode

The drive electronics of the E-871.1A1N convert the control value to an analog signal. The
output piezo voltage corresponds to 10 times this analog signal. The feed of the rod is
generated by the expansion of the piezo actuator caused by the piezo voltage. The piezo
actuator achieves its maximum expansion when the E-871.1A1N outputs the maximum
permitted piezo voltage.
The travel range is limited by the maximum expansion of the piezo actuator.

Motion in closed-loop operation

The motion is executed in 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

Sequence of the following four steps:
1. Linear mode
2. Fast step mode
3. Slow individual steps (Q-Motion® drives only)
4. Linear mode (analog step-and-settle at the target position)
Step mode is switched over to linear mode at the end of mo-
tion to allow controlled approach to the target position. Control
value correction via the PID servo algorithm and the notch filter
is only done in linear mode during step 4 of the motion.

 
Depending on the field of application, it may be useful for the PiezoMike drives to switch off
the change to linear mode at the end of motion, e.g., when the main objective is to reach the
target position quickly, and not nanometer-precision positioning. The PiezoMike Mode
parameter (0x1F0007A3) serves this purpose. If it is set, there is no analog step-and-settle at
the target position at the end of motion.
If PiezoMike mode is active (PiezoMike Mode parameter = 1), the following parameters are
evaluated for motion in closed-loop operation:

4  PRODUCT DESCRIPTION

PZ285EN 

‒

 1/30/2019

27

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

Содержание E-871.1A1N

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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