E 861_User_PZ205 861 User PZ205E121 Manual

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PZ205E User Manual
E-861 NEXACT® Controller
Release: 1.2.1 Date: 26 July 2010
This document describes the following
product:

■

E-861.1A1
NEXACT® Controller, 1 channel, linear
encoder

© Physik Instrumente (PI) GmbH & Co. KG
Auf der Römerstr. 1 ⋅ 76228 Karlsruhe, Germany
Tel. +49 721 4846-0 ⋅ Fax: +49 721 4846-299
info@pi.ws ⋅ www.pi.ws

About This Document
Users of this Manual
This manual is designed to help the reader to operate the E-861 NEXACT® Controller. It assumes that
the reader has a fundamental understanding of basic servo systems, as well as motion control concepts
and applicable safety procedures.
The manual describes the physical specifications and dimensions of the E-861 as well as the software
and hardware installation procedures and the commands which are required to put the associated
motion system into operation.

Conventions
The notes and symbols used in this manual have the following meanings:

WARNING
Calls attention to a procedure, practice or condition which, if not
correctly performed or adhered to, could result in injury or death.

CAUTION
Calls attention to a procedure, practice, or condition which, if not
correctly performed or adhered to, could result in damage to
equipment.

NOTE
Provides additional information or application hints.

The software tools and the mechanics which might be mentioned within this documentation are
described in their own manuals. All documents are available as PDF files. Updated releases are
available for download at www.pi.ws (http://www.pi.ws) or via email: contact your Physik Instrumente
Sales Engineer or write info@pi.ws (mailto:info@pi.ws).

Related Documents
E861_GCSLabVIEW_PZ208E
E-861_PIGCS_2_0_DLL_SM152E
IP1000_B_EN.pdf (GEMAC interpolation chip)

PIMikroMoveUserManual_SM148E
GCSData_User_SM146E
PiStageEditor_SM144E

All documents are available as PDF files on the distribution CD. Updated releases are available for
download at www.pi.ws or via email: contact your Physik Instrumente sales engineer or write
info@pi.ws.

Physik Instrumente (PI) GmbH & Co. KG is the owner of the following company names and trademarks:
PI®, PiezoWalk®, NEXACT®, PIMikroMove
The following designations are protected company names or registered trademarks of third parties:
Microsoft, Windows, LabVIEW
The products described in this document are in part protected by the following patents:
German Patent No. P4408618.0
Copyright by 1999–2010 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany
The text, photographs and drawings in this manual enjoy copyright protection. With regard thereto,
Physik Instrumente (PI) GmbH & Co. KG reserves all rights. Use of said text, photographs and drawings
is permitted only in part and only upon citation of the source.

First printing 26 July 2010
Document Number PZ205E, BRo, KSch, Release 1.2.1
E-861_User_PZ205_121.doc
Subject to change without notice. This manual is superseded by any new release. The newest release
is available for download at www.pi.ws (http://www.pi.ws).

Contents
1

Introduction
1.1
1.2
1.3
1.4
1.5
1.6

Prescribed Use.................................................................................... 5
Safety Precautions .............................................................................. 6
Unpacking ........................................................................................... 8
Additional Components ....................................................................... 9
Motion System Requirements ............................................................. 9
Software Description ......................................................................... 10

First Steps
2.1
2.2
2.3

Reference Mode ................................................................................. 29
Perform a Reference Move ................................................................ 30
Set Absolute Position ......................................................................... 30

Using Trigger Input and Output......................................................... 31
Updates............................................................................................. 31
3.7.1
3.7.2
3.7.3

USB Interface ..................................................................................... 28
Baud Rate Settings............................................................................. 28
Address Settings ................................................................................ 29

Referencing....................................................................................... 29
3.5.1
3.5.2
3.5.3

3.6
3.7

Front Panel Elements ......................................................................... 23
DIP Switch Settings ............................................................................ 24
Rear Panel Elements.......................................................................... 26

Installing the E-861 ........................................................................... 26
Installing the Software on the Host PC ............................................. 27
Connecting Controller or Daisy-Chain Network to Host PC .............. 27
3.4.1
3.4.2
3.4.3

3.5

Software Updates ............................................................................... 31
Updating PIStages2.dat...................................................................... 32
Firmware Updates .............................................................................. 32

Controller Parameters
4.1
4.2
4.3

Front and Rear Panel Elements........................................................ 23
3.1.1
3.1.2
3.1.3

3.2
3.3
3.4

Requirements for Closed-Loop Operation and Custom Systems ..... 12
Getting Started .................................................................................. 12
Example for Commanding Motion..................................................... 20

Details of Operation
3.1

General Information .......................................................................... 35
What to Consider for First Handling of Parameter Settings .............. 35
How to Store Parameter Settings...................................................... 37

4.3.1 Storing Parameter Settings to Volatile Memory Using Expanded
Single Axis Window ...................................................................................... 37
4.3.2 Storing Parameter Settings to Non-Volatile Memory Using
PIMikroMove Main Window .......................................................................... 38
4.3.3 Storing Parameters to Volatile and Non-Volatile Memory via
Commands.................................................................................................... 40

4.4
4.5

Parameter List................................................................................... 41
Default-Stage-N Parameter Settings................................................. 49

System Description
5.1
5.2
5.3

Basic Elements ................................................................................. 51
Accessible Items and Their Identifiers .............................................. 53
Modes of Operation........................................................................... 54
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5

5.4

Servo Modes....................................................................................... 55
Motion Modes ..................................................................................... 56
Changing Motion and Servo Mode ..................................................... 59
PiezoWalk Driving Mode .................................................................... 63
Application Notes................................................................................ 67

Control Basics ................................................................................... 68
5.4.1
5.4.2
5.4.3
5.4.4

Control Value Generation ................................................................... 68
Trajectory Generation......................................................................... 71
Control Algorithm ................................................................................ 76
Motion Error Handling......................................................................... 77

Joystick Control

Working with Controller Macros

7.1
7.2
7.3
7.4

Defining Macros ................................................................................ 82
Starting Macro Execution .................................................................. 84
Start-Up Macro.................................................................................. 84
Preparing for Stand-Alone Preparation ............................................. 85

Data Recording

Customizing the System

9.1
9.2
9.3
9.4
9.5

Parameters for Customizing.............................................................. 90
Travel Range Adjustment.................................................................. 92
Tuning PID Control Parameters ........................................................ 95
How to Create a New Stage Type in the PI Stages Database.......... 98
Adjustment for Custom Sensor ......................................................... 99
9.5.1
9.5.2
9.5.3
9.5.4

Servo Loop Input Factor ..................................................................... 99
Adjustment for Custom Sensor Using Custom Interpolation Board . 100
GEMAC Parameters......................................................................... 105
Custom Sensor Using GEMAC Interpolation Board......................... 106

GCS Commands

107

10.1 Format............................................................................................. 107
10.1.1 Notation ............................................................................................ 107
10.1.2 GCS Syntax ...................................................................................... 107
10.1.3 Target and Sender Address ............................................................. 110

10.2 Command Survey ........................................................................... 111
10.3 Command Reference (alphabetical) ............................................... 114
10.4 Error Codes..................................................................................... 192

Troubleshooting

207

Customer Service

210

Old Equipment Disposal

211

Technical Data

212

14.1 Specifications .................................................................................. 212
14.2 Mounting Hole Pattern .................................................................... 214
14.3 Pin Assignments ............................................................................. 215
14.3.1
14.3.2
14.3.3
14.3.4
14.3.5
14.3.6
14.3.7
14.3.8
14.3.9

Index

Motor Socket..................................................................................... 215
Sensor Socket .................................................................................. 216
RS-232 In and RS-232 Out Sockets ................................................ 216
USB Socket ...................................................................................... 217
I/O Socket ......................................................................................... 218
C-170.IO Cable................................................................................. 219
Joystick Socket ................................................................................. 220
Joystick Y-Cable ............................................................................... 221
24 V DC Socket ................................................................................ 221

222

Introduction

Introduction
The E-861 NEXACT® controller is designed to drive a single-axis
PiezoWalk® system with NEXACT® linear drive in open-loop or closedloop operation. NEXACT® PiezoWalk® technology overcomes the
limitations of conventional nanopositioning drives and combines virtually
unlimited travel ranges with high stiffness in a very small package.
Furthermore, NEXACT® linear drives provide piezo class resolution (far
below one nanometer) and millisecond responsiveness. The special drive
design also reduces the operating voltage to 45 V and below.
Two motion modes are provided: To move the runner over longer distances
a "nanostepping mode" is used, whereas for distances smaller than one
step, the "analog mode" enables high-dynamics positioning with resolutions
far below one nanometer. According to the desired motion modes, the
E-861 NEXACT® controller performs coordinated control of the four voltage
channels required for the NEXACT® linear drive.
Communication with the E-861 is provided either through the RS-232 or the
USB interface. For manual control, the unit can be operated with a joystick.
Flexible Automation
The E-861 NEXACT® Controller offers a number of features to facilitate
automation and handling tasks in research and industry. For example,
macros can be stored in the non-volatile memory for later recall.
Stand-alone capability is provided by a user-programmable autostart macro
to run automation tasks at power-up (no run-time computer communication
required!).
For easy synchronization of motion with internal or external trigger signals
four input and four output lines are provided.
Multi-Axis Control
Up to 16 E-861 NEXACT® Controllers can be daisy-chained and
addressed via the same interface.
The networking feature allows the user to start out with one controller and
add more units later for multi-axis setups.
Command Set
E-861 NEXACT® Controllers can be operated using the PI General
Command Set (GCS). PI-GCS allows networking of different controller
units, both for piezo-based and motorized positioning units, with minimal
programming effort.
Software / Programming
In addition to the user software for setup, system optimization and
operation, comprehensive LabVIEW and DLL libraries are provided to ease
programming custom applications.

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Introduction

1.1

Prescribed Use
Based on their design and realization, E-861 NEXACT® Controller are
intended to drive capacitive loads, in the present case, piezoceramic
actuators. E-861s must not be used for applications other than stated in this
manual, especially not for driving ohmic (resistive) or inductive loads.
Observe the safety precautions given in this User Manual.
E-861s can be operated in closed-loop mode using incremental position
sensors. Consult the product specifications of the mechanics with which the
E-861 is to be operated to see what kind of position sensor is present.
The E-861 may only be used for applications suitable according to the
device specifications. Operation other than instructed in this User Manual
may affect the safeguards provided.
The verification of the technical specifications by the manufacturer does not
imply the validation of complete applications. In fact the operator is
responsible for the process validation and the appropriate releases.
The E-861 is a laboratory apparatus as defined by DIN EN 61010. It meets
the following minimum specifications for safe operation:

■

Indoor use only

■

Altitude up to 2000 m

■

Temperature range 5°C to 40°C

■

Max. relative humidity 80% for temperatures up to 31°C, decreasing
linearly to 50% relative humidity at 40°C

■

Line voltage fluctuations not greater than ±10% of the line voltage

■

Transient overvoltages as typical for public power supply
Note: The nominal level of the transient overvoltage is the standing
surge voltage according to the overvoltage category II (IEC 60364-4443).

■

Degree of pollution: 2

These data are no limitations for the specifications in the technical data
table.

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Introduction

1.2

Safety Precautions
Controller

DANGER
Procedures which require opening the case should be carried out by
authorized, qualified personnel only.
Disconnect the controller from power when opening the case, and
when resetting internal switches or jumpers.
When the controller must be operated with the case open, voltages of
up to 48 VDC and currents of up to 2 A can be exposed. Do not touch
internal conductors.

WARNING⎯READ INSTRUCTION
Install and operate the E-861 NEXACT® Controller only when you
have read the operating instruction. Keep the instructions readily
available close to the device in a safe place. If the instructions are lost
or have become unusable, ask the manufacturer for a new copy. Add
all information given by the manufacturer to the instructions, e.g.
supplements or Technical Notes.

WARNING
Connect the AC power cord of the external power supply to the wall
socket (100 to 240 VAC).
To disconnect the system from the supply voltage completely, remove
the power plug from the wall socket.
Install the system near the AC outlet and such that the AC power plug
can be reached easily.

WARNING
All motion of the connected motors is software controlled, and software
may fail. Defective software or improper operation of the software may
result in unexpected motions. Be aware that some motorized
positioners can generate large forces which can cause personal injury
or other damage if not properly handled.

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Introduction

CAUTION

Place the system in a location with adequate ventilation to prevent
internal heat build-up. Allow at least 10 cm (4 inches) clearance from
the top and the rear of the unit and 5 cm (2 inches) from each side.

Never connect the RS-232-IN and USB connectors of the same
controller to a PC at the same time as this can cause damage to the
controller.

If no sensor is present in your system:

■

Do not switch servo on (SVO command)

■

Do not send commands for closed-loop motion, like MOV or MVR

■

Do not send the open-loop commands OMA and OMR, since they
use a sensor, too

Otherwise the connected mechanics can run into the hard stop at full
speed, which may cause damage to your hardware setup.

CAUTION

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Incorrect E-861 parameter values may lead to improper operation or
damage of your hardware. Be careful when changing parameters.

The E-861 is equipped with a watchdog timer. This safety device
resets the E-861 in case of software failure.

Do not enable a joystick via command when no joystick device is
connected to the controller hardware. Otherwise the corresponding
controller axis may start moving and could damage your application
setup.

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Introduction

CAUTION
The boards inside the E-861 are ESD-sensitive (electrostatic discharge
sensitive) devices. Observe all precautions against static charge
buildup before handling these devices. Avoid touching circuit
components, pins and PCB traces. Discharge any static electricity you
may have on your body by briefly touching a conductive, grounded
object before you touch any electronic assembly.

Make sure that no conductive particles of any kind (metallic dust or
shavings, broken pencil leads, loose screws) contact the device
circuitry.
Mechanics

CAUTION
Do not displace the moving platform of a NEXACT® stage or the
runner of a NEXACT® linear drive manually! Manual displacement can
cause irreparable damage to the piezo modules in the NEXACT®
linear drives.

1.3

Unpacking
Unpack the E-861 NEXACT® Controller with care. Compare the contents
against the items covered by the contract and against the packing list.
The following components are included:

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■

NEXACT® Controller (E-861.1A1)

■

Power Supply 24 V, 42 W (C-663.PS), with line cord (3763)

■

RS-232 null-modem cable for connecting controller and host PC
(C-815.34)

■

RS-232 straight-through networking cable (C-862.CN) for daisy chain

■

USB cable (3 m, USB-A (m) / USB Mini-B (m)) for PC connection
(000014651) and EMI-suppression ferrite (000015165)

■

E-861 Distribution CD, containing host software (see "Software
Overview" (p. 10)), USB driver and manuals as PDF files (E-861.CD)

■

User Manual for E-861 in printed form (this document)

E-861 PZ205E Release 1.2.1

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Introduction

If parts are missing or you notice signs of damage, contact your PI
representative or write to info@pi.ws immediately.
Save all packing materials in case the product needs to be shipped again.

1.4

Additional Components
Contact your PI representative or write an e-mail to info@pi.ws if you need
the following additional components:

1.5

Order
Number

Description

C-862.CN2

Long straight-through networking cable for daisy chain (interconnecting
E-861 controllers on RS-232 bus), 180 cm

C-819.20

Analog joystick, 2 axes

C-819.20Y

Y-cable for connecting two E-861s to joystick

C-170.PB

Pushbutton box with 4 buttons and 4 LEDs, for connection to the I/O socket
(p. 218)

C-170.IO

Connector for I/O socket (p. 218), with cable, open end

Motion System Requirements
To start working with the E-861 NEXACT® controller, your motion system
must include the following components:

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■

Power supply for E-861

■

The mechanics (NEXACT® linear drive or stage)

■

A PC with Windows operating system (XP, Vista, 7.0)

■

Communication interface to the PC:
A free COM port on the PC or
A free USB interface on the PC

■

RS-232 null modem cable or USB cable to connect controller and
host PC

■

E-861 CD with host software

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Introduction

1.6

Software Description
The table below lists the software tools which are on the E-861 product CD
with application recommendations.
For more information see the corresponding software manuals.

Software
Tool

Supported
Operating
System

Short Description

Recommended for

PITerminal

Windows

PITerminal is a Windows GUI which
can be used as a simple terminal with
almost all PI controllers.

Users who want to send the
commands of the PI General
Command Set (GCS) directly.

GCS Library

Windows

Customers who want to use a
library for their applications.
The dynamic version of the
library is needed by the
LabVIEW driver set and by
PIMikroMove.

LabVIEW
drivers

Windows

Allows program access to the E-861
from languages like C++.
The functions in the library are based
on the PI General Command Set
(GCS).
Windows operating systems:
PI_GCS2_DLL
LabVIEW is a software tool (available
separately from National Instruments)
for data acquisition and process
control. The E-861 LabVIEW software
consists of a collection of virtual
instrument (VI) drivers for the E-861
controller. This driver set supports the
PI General Command Set (GCS).
Included are VIs for GCS commands
and high-level VIs for various tasks.

PIMikroMove

Windows

PIMikroMove permits you to start your
motion system—host PC, controller
and stage(s)—immediately without the
need to write customized software. It
offers motion-control displays and
features that in many cases make it
unnecessary to deal with ASCIIformat commands. It also has a
complete command input facility,
which represents an easy way to
experiment with various commands.
PIMikroMove uses the GCS DLL
described above to command the
controller.
Note that the program offers
comprehensive online support.

Users who want to test the
equipment before or instead of
programming an application
and who want to learn how to
use the commands. For motor
controllers, PIMikroMove offers
an easy way to optimize the
servo parameters.

PIStageEditor

Windows

GUI tool for adding, removing and
editing stages (parameter sets) in
stage-parameter files (DAT-files) used
by the GCS library and the other host
software from PI

Users who want to check or edit
the content of the stage
databases used by the host
software

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E-861 PZ205E Release 1.2.1

Users who want to use
LabVIEW for programming their
applications based on the GCS.
See the GCS LabVIEW manual
of your controller for more
information.

Page 10

Introduction

TMS320F28xx
Updater

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Windows

The TMS320F28xx Updater firmware
update program guides you through
the update of the firmware for your
E-861 system.

E-861 PZ205E Release 1.2.1

Users who want to update the
firmware.

Page 11

First Steps

2.1

Requirements for Closed-Loop Operation and
Custom Systems
Before you start with closed-loop operation make sure that the set
controller parameters match:
a) the properties of the mechanics
b) the properties of the sensor used for position feedback
c) your individual application
If you use a custom stage you can use the Default-Stage-N stage database
entry. This stage database entry contains parameter settings that you may
have to adjust to match with your stage’s properties.
See "Default-Stage-N Parameter Settings" (p. 49) for the parameter
settings the Default-Stage-N stage database entry features.
See “Customizing the System” (p. 89) for what parameters may need to be
adjusted.
See “How to Store Parameter Settings” (p. 37) for how to store parameters
to volatile and non-volatile memory.
In addition you have to check if the sensor properties of your custom stage
match with the GEMAC parameters reflecting the sensor properties.
Note that the GEMAC parameters are not part of a stage database entry.
See “GEMAC Parameters” (p. 105) and "Adjustment for Custom Sensor"
(p. 99) for details.

2.2

Getting Started
To simplify your first steps with the NEXACT® system, it is recommended
to use PIMikroMove (see the PIMikroMove Manual for more information).

CAUTION
Never connect the RS-232-IN and USB connectors of the same
controller to a PC at the same time as this can cause damage to the
controller.

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First Steps

CAUTION
If no sensor is present in your system, do not switch the servo on.
Otherwise the connected mechanics can run into the hardstop at full
speed which may cause damage to your hardware setup.

NOTE
It is recommended to check the parameter settings on the controller
before a stage database entry is chosen during setting up a connection
with PIMikroMove.
If the parameter settings must not be changed, then press OK (instead
of Assign -->) in the Select connected stages step, see figure of step
9b) below.
It is possible to generate user-defined stage database entries. See
"How to Create a New Stage Type in the PI Stages Database" (p. 98)
for how to generate a new parameter set ( = stage database entry).
Such a user-defined stage database entry will be available in
PIMikroMove in the Select connected stages step.
See "Storing Parameter Settings to Non-Volatile Memory Using
PIMikroMove Main Window" (p. 38) if you wish to store these settings
to the controller's non-volatile memory to make them power-up default
settings.
To start operation with the E-861 proceed as described below.
Note that closed-loop operation is only possible if your system features a
sensor.
1 Connect the NEXACT® stage to the "Motor" socket on the rear of the
E-861.
2 If present, connect the NEXACT® stage to the "Sensor" connector on the
rear of the of the E-861.
3 Starting operation for the first time, you should use the default DIP switch
settings of the E-861 which are as shown in the figure below:
Controller address = 1
Baudrate = 9600 baud
Mode = Normal operation

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First Steps

If you want to change the default settings, see "DIP Switch Settings" for
details.
4 Connect the E-861 to the host PC.
Use either the RS-232 interface (via the "RS-232 In" socket on the
controller) or the USB interface and the corresponding cable which is
included in delivery.
Never connect both interfaces at the same time.
5 Connect E-861 and the included 24 VDC wide-range power supply (use
the "24 VDC" socket on the E-861 rear panel).
6 Connect the power supply of the E-861 to the line power (100-240 VAC).
The controller is powered on and immediately ready for operation (STA
LED lights up permanently).
7 Start PIMikroMove on the host PC.
See "Installing the Software on the Host PC" (p. 27) for installation.
8 Establish a connection to the E-861 controller from PIMikroMove.
a) Select the E-861 controller in the Start up controller window, see figure
below.

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First Steps

This figure shows the Start up controller window at the Connect controller
step.
Here, the E-861 is physically connected via RS-232. 9600 baud is the
factory default baud rate setting.
The controller has address 1 as is determined by DIP switch settings at
the controller’s front panel.
b) Depending on the physical connection select the RS-232, FTDI USB,
RS-232 Daisy Chain or USB Daisy Chain tab card in the Start up
controller window.
When using the USB interface for the first time, two FTDI USB drivers
must be installed on the host PC. These drivers are provided on the
E-861 CD in the \USB Driver directory.
Note that with a daisy-chain there must be one controller with address 1.
It is not required that this controller is directly connected to the host PC,
i.e. this controller does not have to be the first controller of the daisychain.
If there is no controller in a daisy-chain with address 1 an error message
occurs when you try to setup a connection.
See "Connecting Controller or Daisy-Chain Network to Host PC" (p. 27)
for detailed information.
c) For RS-232 connection choose the baud rate as preset by the DIP
switch settings at the controller’s front panel.
d) Press Connect in the Start up controller window to establish the
connection.
9 Choose the stage type to be connected.
Click Select connected stages on the E-861 menu of the PIMikroMove

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First Steps

main window if the stage selection dialog for the next step does not open
automatically.
There are the following possibilities:
a) The preset Current stage type in the Controller axes pane does not
match your stage.
b) The preset Current stage type does match your stage.
Details:
a) If the preset stage type is not to be used select the appropriate stage
type in the Stage database entries list and press the Assign -> button for
each axis.
The selected stage types are now visible in the Controller axes pane.
Set to: stage name occurs in the Action column, see figure below.
To accept the selection and to close the dialog, press the OK button.
The figure below shows the Start up controller window with the Select
connected stages step. Here a stage database entry for a specific stage
is chosen.

If you wish to store the settings you chose as power-up default settings
to the controller's non-volatile memory see "Storing Parameter Settings
to Non-Volatile Memory Using PIMikroMove Main Window" (p. 38) for
instructions.

b) If a connection is started occurs automatically in the
Action column, see figure below.

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First Steps

Then, if the preset stage type is to be used accept the preset stage
database entry by pressing the OK button.

If your stage features a sensor, go on with step 10 to reference the axis.
If your stage does not feature a sensor, proceed with step 11a) to
command motion.
Notes:
While choosing the stage type, the parameters for that stage type will
be loaded automatically from a stage database on the host PC to the
controller's volatile memory.
Make sure that you always have installed the latest version of the
PIStages2.dat stage database. See "Installing the Software on the Host
PC" (p. 27) and "Updating PIStages2.dat" (p. 32) for details.
The choice can later be changed with Select connected stages on the
E-861 menu in the PIMikroMove main window.
See "Controller Parameters" (p. 35) and "Customizing the System"
(p. 89) for more information regarding parameter settings.
10 Start reference moves for the axes.
Note that this step can only be performed if your mechanics features a
sensor and reference or limit switches. In addition, the relevant
parameters have to be enabled accordingly.
With Default-Stage-N parameter settings reference or limit switches are
disabled. Thus referencing is not possible with this parameter set.
Due to the nature of the incremental sensors used in the stages, the

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First Steps

controller cannot know the absolute position of an axis upon startup.
Reference and/or limit switches in the stage can be used to obtain
absolute position information.
The figures below show the Start up controller window with the Start up
axes step. Click Automatic to start the reference move.

When referencing is successfully finished, press the Close button. The
PIMikroMove main window will open.
See "Referencing" (p. 51) for more information.

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11 Start some test moves of the axis. Depending on your settings there are
the following possibilities:
a) Mechanics does not feature a sensor:
Select the PiezoWalk (R) channels tab in the PIMikroMove main window,
see figure below.
Insert an appropriate value in the Open-Loop Number of Steps field. To
exert motion press the associated arrow buttons.

b) Mechancis features a sensor:
Select the Axes tab in the PIMikroMove main window, see figures
below.
You can command motion either in open-loop or closed-loop operation.
Activate servo to command motion in closed-loop operation.
For example, perform a step of a predefined size by pressing the
associated arrow buttons for an axis

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First Steps

For how to realize stand-alone operation see "Preparing for Stand-Alone
Operation" (p. 85).
See "Working with Controller Macros" (p. 82) for how to store macros in the
E-861's non-volatile memory for later recall and "Joystick Control" (p. 79)
for manual control by a joystick connected to the E-861.

2.3

Example for Commanding Motion

CAUTION

If no sensor is present in your system:

■

Do not switch servo on (SVO command)

■

Do not send commands for closed-loop motion, like MOV or MVR

■

Do not send the open-loop commands OMA and OMR, since they
use a sensor, too

Otherwise the connected mechanics can run into the hard stop at full
speed, which may cause damage to your hardware setup.
After setting up a connection with PIMikroMove you can perform some test
motion.
Note that your stage must feature a sensor to reference and to perform
closed-loop motion. The example described below requires that your
system features a sensor.
Proceed as follows:

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Reference and activate servo first, see steps 10 and step 11 in
"Getting Started" (p. 12) for details.
Note that your stage must feature a sensor to reference and to
perform closed-loop motion.

To send the commands as given below follow the Tools →
Command entry menu sequence in the PIMikroMove main window,
see figure below.

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First Steps

Then you can send motion commands via the Command entry
window as listed in the example given below.

The example below shows how to perform closed-loop and open-loop
motion. See "Modes of Operation" (p. 54) for more information regarding
the motion modes of a NEXACT® linear stage and the transitions between
them.

MOV 1 6

MVR 1 -5
SVO 1 0

OAD 1 40

RNP 1

SVO 1 1
MOV 1 5

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Closed-loop motion, Axis 1 moves to absolute position 6 mm.
Note that motion can be performed either only in nanostepping
mode or in an alternating sequence of nanostepping and analog
motion. See "Motion Modes" (p. 56) for details.
Closed-loop motion, moves Axis 1 relative to the last commanded
closed-loop target position.
Servo must be disabled to enable open-loop commands.
Disabling servo includes an automatic Relaxing procedure. (See
also "Changing Motion and Servo Mode" (p. 59) for details)
Therefore, a motion in analog mode can be performed by a next
OAD command.
Open-loop analog motion of PiezoWalk channel 1, set feed
voltage to +40 volts which corresponds to a motion of approx. 3.3
µm, depending on stage, load and motion direction, in positive
direction.
Relaxing brings the PiezoWalk channel 1 to a full-holding-force,
zero-drive voltage Relaxed state, is required before the motion
mode can be changed from analog to nanostepping motion in
open-loop operation (and vice versa), and before servo is
activated for closed-loop operation.
Servo is activated.
Closed-loop motion, Axis 1 moves to absolute position 5 mm.

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First Steps

SVO 1 0
OAD 1 -20

RNP 1
SSA 1 40
OSM 1 100
OMA 1 6

OMR 1 -3

RNP 1
OAD 1 -40

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Servo must be disabled to enable open-loop commands.
Disabling servo includes an automatic Relaxing procedure.
Open-loop analog motion of PiezoWalk channel 1, set feed
voltage to -20 volts which corresponds to a motion of approx. 1
µm, depending on stage, load and motion direction, in negative
direction.
Relaxing of PiezoWalk channel 1 is required to prepare stage for
nanostepping motion.
Voltage amplitude for nanostepping motion is set to +40 volts.
Open-loop nanostepping motion, PiezoWalk channel 1 moves
100 steps in positive direction.
Open-loop nanostepping motion, Axis 1 moves to absolute
position, i.e. to absolute position of approximately 6 mm.
Open-loop nanostepping motion, moves Axis 1 relative to the last
commanded open-loop target position, here by 3 mm in negative
direction.
Relaxing of PiezoWalk channel 1 is required to prepare stage for
analog motion.
Open-loop analog motion of PiezoWalk channel 1, set feed
voltage to -40 volts which corresponds to a motion of approx. 3.3
µm, depending on stage, load and motion direction, in negative
direction.

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Details of Operation

3.1

Front and Rear Panel Elements

3.1.1

Front Panel Elements

Figure 1: Front Panel of E-861.1A1

Name
RS-232 In

RS-232 Out

STA LED
(green)
ERR LED (red)

I/O

Joystick

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Function
Serial connection to host PC or to previous
controller in a daisy-chain network. See "RS-232
In and RS-232 Out Sockets" (p. 216) for pinout.
Serial connection to next controller in a daisychain network. See "RS-232 In and RS-232 Out
Sockets" (p. 216) for pinout.
Power on and ready indicator. When power is
applied to the controller, the LED will glow for
normal operation.
Error indicator; when LED lights up, error code is
non-zero and can be queried and cleared using
the ERR? command (p. 127).
Universal Serial Bus (USB) for connection to host
PC. See "USB Socket" (p. 217) for more
information.
Mini DIN 9-pin connector, provides digital I/O and
analog input lines. See "I/O Socket" (p. 218) for
pinout.
Mini DIN 6-pin connector for analog joystick
(input). See "Joystick Socket" (p. 220) for pinout.

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Details of Operation

Name
Mode, Baud,
Addr

3.1.2

Function
8-bit DIP switch, sets controller address, RS-232
baud rate and operating mode of unit. See "DIP
Switch Settings" for details.

DIP Switch Settings

Figure 2: Slider up = ON, slider down = OFF

Name
Addr (switch 1 to 4)
Baud (switch 5 and 6)
Mode (switch 7 and 8)

Function
Controller address (1 to 16)
Baud rate (9600, 19200,
38400 or 115200**)
Operating mode (normal
operation or firmware
update)

** older firmware revisions may not support 115200 baud

Factory settings are shown in bold in the following tables.

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Details of Operation

Address

SW1 SW2

SW3

SW4

OFF

Baud Rate*

SW5

SW6

9600

19200

OFF

38400
115200**

OFF
OFF

ON
OFF

*Other settings are fixed at 8 data, 1 stop, no parity; Internal buffers are
used so there is no handshake required
**Older firmware revisions may not support 115200 baud

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Mode
Firmware
update

SW7
OFF

SW8
ON

Normal

OFF

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Details of Operation

3.1.3

Rear Panel Elements

Figure 3: Rear Panel of E-861.1A1

Name
24 VDC
Sensor

Motor

3.2

Function
Connector for power supply. See "24 VDC
Socket" (p. 221) for pinout.
Sub-D connector for position feedback devices
such as an incremental encoder and for the
signals of limit and reference sensors. See
"Sensor Socket" (p. 216) for pinout.
Sub-D connector for NEXACT® drive. See
"Motor Socket" (p. 215) for pinout.

Installing the E-861
The E-861 can be used as desktop device or mounted on a base in any
orientation. If you want to mount the E-861 on a base, see "Mounting Hole
Pattern" (p. 214).

CAUTION
Place the system in a location with adequate ventilation to prevent
internal heat build-up. Allow at least 10 cm (4 inches) clearance from
the top and the rear of the unit and 5 cm (2 inches) from each side.

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Details of Operation

Because grounding is not assured over the power connection, the E-861
chassis must be connected to a protective ground, e.g. via one of the fixing
screws on the front or rear panel.

3.3

Installing the Software on the Host PC
Windows operating systems:
1

Insert the E-861 CD in your host PC.

If the Setup Wizard does not open automatically, start it from the
root directory of the CD with the

icon.

Follow the on-screen instructions and select the “typical”
installation. Typical components are LabVIEW drivers, GCS DLL,
PIMikroMove.

For an overview over the host software provided see "Software Description"
(p. 10).

3.4

Connecting Controller or Daisy-Chain
Network to Host PC

CAUTION
Never connect the RS-232-IN and USB connectors of the same
controller to a PC at the same time as this can cause damage to the
controller.
Use either the RS-232 or the USB interface to connect the E-861 or an
E-861 daisy chain network to the host PC.
Up to 16 E-861 controllers can be controlled from a single host computer
interface. The RS-232 output stages of some PCs may not be capable of
driving more than 6 units; if this is a problem use USB to interface with the
PC.
Interconnect any additional controllers being networked to the network with
straight-through RS-232 cables chaining off the RS-232 OUT connector of
the controller connected to the PC (one straight-through RS-232 cable
(C-862.CN) comes with each E-861 controller).

NOTES
In a daisy-chain, connected via USB or via RS-232, there must be one
controller with address 1. It is not required that this controller is directly

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Details of Operation

connected to the host PC, i.e. this controller does not have to be the
first controller of the daisy-chain.
If there is no controller in a daisy-chain with address 1 an error
message occurs when you try to setup a connection.

3.4.1

USB Interface

The first time you connect over the USB interface, be sure you are logged
on the PC as a user having administrator rights. After the E-861 is powered
on, a message will appear saying that new hardware has been detected.
Follow the on-screen instructions and insert the E-861 CD again. The
required hardware drivers are found in the \USB Driver directory.
The USB drivers will make the USB interface appear to all software on the
host PC as a new COM port. That port will be present only when the
controller is connected via USB and powered on. Depending on the way
the connection between E-861 and host PC is established in the host
software, it may be possible to select the baud rate of that PC COM port.
Make sure that the selection corresponds to the baud rate settings of the
E-861 (made via the DIP switches on the E-861 front panel).

3.4.2

Baud Rate Settings

The baud rate can be set to one of 9600, 19200, 38400 and 115200 using
the Baud DIP switches on the E-861 front panel, see "DIP Switch Settings"
for details (115200 may not be supported by older firmware revisions). All
controllers in a daisy chain network must be set to the same baud rate.
Other communication settings are fixed at 8 data, 1 stop, no parity; internal
buffers are used so there is no handshake required.

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Details of Operation

3.4.3

Address Settings

The controller address of the E-861 can be set with the Addr DIP switches
on the front panel, see "DIP Switch Settings" for details. Possible controller
addresses are in the range of 1 to 16, address 1 is default. The host PC
always has the address 0.
See "Target and Sender Address" (p. 110) for more information about the
format of the command line.
In a daisy chain network, each E-861 must have a unique controller
address and one controller of the daisy-chain must have address 1. See
also “Connecting Controller or Daisy-Chain Network to Host PC” (p. 27) for
more information.
The communication on the interface is between the host computer and a
specifically addressed controller in the chain. With the broadcast address
255, all controllers can be addressed at the same time, but no reports are
displayed on the host PC.

NOTES
Except when making the required hardware settings, you have to deal
with addresses only if the connection between E-861 and host PC is
done via a terminal program without any intervening software layers
(e.g. DLLs). With PITerminal, this is the case if the connection is made
by pressing the Connect… button.

3.5

Referencing
Because the encoder signals used for position feedback provide only
relative motion information, the controller cannot know the absolute position
of an axis upon startup. This is why a referencing procedure is required
before absolute target positions can be commanded and reached.
For the implementation of the referencing functionality in the individual host
software components, see the appropriate manuals.

3.5.1

Reference Mode

The current reference mode setting of the controller (ask with RON?
(p. 170)) determines how referencing can be performed. By default, a
reference move must be performed (p. 30), but it is also possible to set
absolute positions manually (p. 30). To switch between the two reference
modes, use the RON command (p. 170).

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Details of Operation

3.5.2

Perform a Reference Move

When the reference mode is set to "1" (factory default), referencing is done
by performing a reference move with FRF (p. 133), FPL (p. 131) or FNL
(p. 129).

NOTES
Neither relative nor absolute targets can be commanded as long as
referencing was not successfully performed.
FRF requires that the axis has a reference switch (ask with TRS?
(p. 188)), and FPL and FNL require that the axis has limit switches
(ask with LIM? (p. 146)). The limit switches can only be used for
reference moves if the travel range is not reduced by soft limits, see
"Travel Range Adjustment" (p. 92) for more information.
For best repeatability, always reference in the same way.
The FRF command always approaches the reference switch from the
same side, no matter where the axis is when it is issued.

3.5.3

Set Absolute Position

When the reference mode is set to "0", referencing is done by entering an
absolute position value using the POS command (p. 166).

NOTES
Only relative targets but no absolute targets can be commanded as
long as referencing was not successfully performed.
If the controller is given an incorrect position with POS, the axis can
run into a limit switch and will not be able to move away from the
switch due to the travel range limits given by the
MAX_TRAVEL_RANGE_POS parameter (ID 0x15; ask with TMX?
(p. 187)) and the MAX_TRAVEL_RANGE_NEG parameter (ID 0x30;
ask with TMN? (p. 186)).

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Details of Operation

3.6

Using Trigger Input and Output
It is possible to trigger external devices and to program start/stop actions in
macros using the digital I/O lines of the E-861. See "I/O Socket" (p. 218) for
the lines and pinout. The number of digital I/O lines available on the E-861
can be queried using the TIO? command (p. 186).
You can set the states of the Output 1 to Output 4 lines (TTL, active high)
using the DIO command (p. 121), e.g. to trigger other devices. The lines
can be set individually or all at once according to a bit pattern. Furthermore,
you can program the Output 1 to Output 4 lines using the CTO command
(trigger configuration) and the TRO command (trigger enabling/disabling).
See "Configuring Trigger Output—Examples" for examples.
The states of the Input 1 to Input 4 lines (TTL, active high) can be queried
with the DIO? command (p. 121). These lines can be used to stop macros
and to trigger certain actions in macros via the MEX command (p. 149) or
the WAC command (p. 189), respectively. See "Working with Controller
Macros" (p. 82) for an example.

3.7

Updates

3.7.1

Software Updates

Updated releases of software and manuals are available for download at
www.pi.ws. While the manuals are freely accessible, you need a password
for the software download. This password is provided on the E-861 CD in
the E-861 Releasenews PDF file in the \Manuals directory.
To download the latest software (complete CD mirror) from the PI Website,
proceed as follows:

www.pi.ws

On the www.pi.ws front page, move the cursor to Manuals,
Software, ISO Statements in the Service section on the left.

Select Software from the list that pops up.

On the PI Download Server page, enter the Username and the
Password which are provided in the E-861 Releasenews xxxxx.pdf
on the E-861 CD and click on Login

Click on the E Piezo Drivers & Nanopositioning controllers
category.

Click on E-861.

Click on Software (if you click on Documents you will get the latest
manuals).

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Details of Operation

3.7.2

Click on the latest CD-Mirror (includes the manual versions that
were with the release) or on the latest update zip file.

Updating PIStages2.dat

To install the latest version of PIStages2.dat from the PI Website proceed
as follows:
1. On the www.pi.ws front page, move the cursor to Manuals, Software,
ISO Statements in the Service section on the left.
2. Select Software from the list that pops up.
3. On the PI Support Site page, click on the General Software category
(no login or password is required).
4. Click on PI Stages.
5. Click on pistages2.
6. In the download window, switch to the ...\PI\GcsTranslator directory.
The location of the PI directory is that specified upon installation,
usually in C:\Documents and Settings\All Users\Application Data
(Windows XP) or C:\ProgramData (Windows Vista) (may differ in otherlanguage Windows versions).
Note that in PIMikroMove, you can use the Version Info entry in the
controller menu or the Search for controller software entry in the
Connections menu to identify the GcsTranslator path.
7. If desired, rename the existing PIStages2.dat (if present) so as to
preserve a copy for safety reasons.
8. Download the file from the server as PIStages2.dat.

3.7.3

Firmware Updates

The current firmware revision of your E-861 is contained in the response to
the *IDN? command.
Firmware updates can be made by running the TMS320F28XX Updater
firmware update program on the host computer. The program is available
on the E-861 CD and can be installed with the Setup Wizard or started
directly from the \TMS320F28xx_Updater directory of the CD. If you want to
run the Setup Wizard:

■

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Insert the E-861 CD in your host PC.

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Details of Operation

■

If the Setup Wizard does not open automatically, start it from the root
directory of the CD with the

■

icon.

Follow the on-screen instructions, select the "custom" installation and
then select the TMS320F28XX Updater.

NOTES
The E-861 whose firmware is to be updated must be directly
connected to the host PC (no daisy chain, do not even connect a cable
to "RS-232 Out"), and the connection should be made via the RS-232
interface. USB connections are not recommended for firmware
updates.
If the controller is in firmware update mode, the DIP switch settings for
baud rate and controller address are ignored. The serial connection to
the host PC is made with an automatic baud rate setting
("Autobaudrate") in the firmware update program. If the Autobaudrate
connection should fail, try again to establish the connection.
When the controller is in firmware update mode, all LEDs on the front
panel will stay off.

Proceed as follows to update the E-861 firmware:

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Only required if the firmware update introduces new parameters
(see the documentation that comes with the update):
In the PITerminal or the Command Entry window of PIMikroMove,
send SPA? and save the response to a text file for later restoration
of the controller parameter values.

Power down the E-861 and select the firmware update mode using
DIP switch 8 on the E-861 front panel:
switch 8 must be set to the ON position

Start the TMS320F28XX Updater firmware update program.

Power on the E-861.

Establish communication between E-861 and host PC in the
firmware update program (Autobaudrate connection).

Perform the update: Select the new bootloader file and the new
flash file for the update. Make sure that the correct files are
selected in the corresponding fields. Start the update process.

When the update has finished, close the firmware update program.

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Details of Operation

Power down the E-861 and set it back to normal operation using
DIP switch 8:
switch 8 must be set to the OFF position

Power on the E-861. If the firmware update has not introduced new
parameters, the E-861 can be started for normal operation with the
new firmware. Otherwise proceed with step 10.

10 Only required if the firmware update introduces new parameters
(see the documentation that comes with the update):
Make sure you have created a parameter backup file (see step 1).
In the PITerminal or the Command Entry window of PIMikroMove,
send
ZZZ 100 Parameter
to set the new parameters to initial values. Since this command
also resets all other parameters, you have to set them back to the
values stored in the backup file using SPA (see "Controller
Parameters" (p. 35) for details on parameter handling and saving).
Furthermore, check the new parameters with SPA? and set them
to plausible values.

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Controller Parameters

4.1

General Information
In this section you find information about:

■

What to consider for first handling of parameter settings

■

How to store parameter settings:

Storing parameter settings to controller’s volatile memory
Storing parameter settings to controller’s non-volatile memory
Storing parameters to volatile and non-volatile memory via commands

■

A parameter list with short descriptions of all available parameters,
including GEMAC parameters for the sensor’s hardware

■

A list of Default-Stage-N parameter settings

For information on how to store a set of parameter settings as a userdefined stage database entry on your host PC, see "How to Create a New
Stage Type in the PI Stages Database" (p. 98) for detailed instructions.
The values of the parameters required for closed-loop operation depend on
your mechanics (stage configuration, sensor, load) and have to be adjusted
properly before initial operation of a closed-loop system.
See "Customizing the System" (p. 89) for detailed information.
For detailed information regarding the parameters for the GEMAC
interpolation circuit (IDs 0x7000010 to 0x700001F), see "GEMAC
Parameters" (p. 105) and the GEMAC manual IP1000_B_EN.pdf which is
provided on the E-861 CD.
Values stored in non-volatile memory are power-on defaults, so that the
system can be used in the desired way immediately.

4.2

What to Consider for First Handling of
Parameter Settings
To adapt the E-861 to your application, you can modify parameter values.
The parameters available depend on the controller firmware. With HPA?
(p. 138) you can obtain a list of all available parameters with information
about each (e.g. short descriptions). The volatile and non-volatile memory
parameter values can be read with the SPA? (p. 178) or SEP? (p. 174)
commands, respectively.
See "How to Store Parameter Settings" (p. 37) and "Parameters for
Customizing" (p. 90) for further information.

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CAUTION
Incorrect E-861 parameter values may lead to improper operation or
damage of your hardware. Be careful when changing parameters.

Values stored in non-volatile memory are power-on defaults, so that the
system can be used in the desired way immediately.

www.pi.ws

■

By default, the controller's non-volatile memory contains parameter
settings of Default Stage N.

■

With Default-Stage-N's parameter settings, e.g. reference and limit
switches are not recognized, and position is commanded in counts.

■

When you set up a connection with PIMikroMove you can choose a
specific stage database entry.
This database entry contains all required stage-specific parameter
settings except the GEMAC parameters of the sensor.
For details about these parameters see "GEMAC Parameters"
(p. 105) and the GEMAC manual IP1000_B_EN.pdf which is
provided on the E-861 CD.
While choosing the stage type the parameters for that stage type will
be loaded automatically from a stage database on the host PC to the
controller's volatile memory.

■

With stage-specific database entries reference switch, and – for
certain stages – limit switches can be recognized, and position is
commanded in mm.

■

If you want to store parameters that you need permanently for your
individual application you can use commands WPA or SEP to store
them to non-volatile memory.
See "How to Store Parameter Settings" (p. 37) below for details.
Note that stand-alone operation is only possible if all required
parameter settings are stored to non-volatile memory.

■

If you want to operate the controller with a custom stage not
delivered from PI you can use the Default-Stage-N's stage database
entry.
See "Default-Stage-N Parameter Settings" (p. 49) for details.

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Controller Parameters

4.3

How to Store Parameter Settings
You have several possibilities to store parameter settings:

■

Store parameter settings to volatile memory in the expanded Single
axis window of PIMikroMove.
Find details in “Storing Parameter Settings to Volatile Memory Using
Expanded Single Axis Window” (p. 37).

■

Store parameter settings to non-volatile memory using the main
menu of PIMikroMove.
Find details in “Storing Parameter Settings to Non-Volatile Memory
Using PIMikroMove Main Window” (p. 38).

■

Store parameter settings to volatile or non-volatile memory using
commands SPA, SEP, RPA and WPA via a terminal program like
PITerminal or via the Command entry window of PIMikroMove.
Find details in “Storing Parameters to Volatile and Non-Volatile
Memory via Commands” (p. 40).

■

Store a set of parameter settings as a user-defined stage database
entry in the PI_UserStages2.dat file located on your host PC. It will
be loaded automatically to the controller's volatile memory.
See “How to Create a New Stage Type in the PI Stages Database”
(p. 98) in Section "Customizing the System" (p. 89) for detailed
instructions.

To store parameters according to the presented possibilities requires that:

4.3.1

■

PIMikroMove or PITerminal must be installed on your host PC, see
“Installing the Software on the Host PC” (p. 27) for details.

■

Communication between controller and host PC must be established
using PIMikroMove (or PITerminal), see “Getting Started" (p. 12) for
details.

Storing Parameter Settings to Volatile Memory Using
Expanded Single Axis Window

PIMikroMove main window must be open. Proceed as follows to adjust and
store parameter settings:
1

www.pi.ws

Open the expanded single axis window by following the View →
Single Axis Window menu sequence for the connected stage.

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Controller Parameters

Click on the + at the right side of the single axis window, see figure
below.

In the list at the right side of the expanded single axis window you
can insert new settings.
If the parameter you wish to change does not occur in the list click
on Select parameters to display the parameter in the list.
Note that a new parameter setting is only sent to the controller
after is pressed while the cursor is in the text entry.

4.3.2

Storing Parameter Settings to Non-Volatile Memory
Using PIMikroMove Main Window

PIMikroMove main window must be open.
The procedure described stores current parameter settings of the
controller’s volatile memory to non-volatile memory.
1

www.pi.ws

To select parameters to be adjusted the Axes tab must be
displayed.
Press the Select columns to be displayed icon in the right top
corner of the PIMikroMove main window, see next figure.

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Controller Parameters

Adjust chosen parameter, see next figure.

To store adjusted parameter settings follow the E-861 → Save
parameters to non-volatile memory menu sequence in the PIMikroMove
main window, see next figure.

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E-861 PZ205E Release 1.2.1

Page 39

Controller Parameters

A password is required, see next figure.

To store adjusted GEMAC parameter settings to non-volatile memory
use password 4711.
For all other parameters use password 100.
Note that the adjusted settings are loaded from non-volatile memory to
volatile memory each time you power on or reboot the controller.

4.3.3

Storing Parameters to Volatile and Non-Volatile
Memory via Commands

Using the "general" modification commands SPA, RPA, SEP and WPA,
parameters can be changed in volatile memory (SPA (p. 175), RPA
(p. 171)) or in non-volatile memory (SEP (p. 173), WPA (p. 190)).

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 40

Controller Parameters

To store parameters using commands follow the Tools →
Command entry menu sequence in the PIMikroMove main window,
see next figure.

Example:
To set the slew rate to 100 ms send SPA 1 0x7000002 100.
It is recommended that any modifications be first made with SPA, and when
the controller runs well, saved using WPA. In addition to the "general"
modification commands, there are commands which change certain
specific parameters in volatile memory as e.g. VEL (p. 190) changes 0xA,
i.e. the closed-loop velocity (see table below).

4.4

Parameter List

CAUTION

Parameter
ID (hexadecimal)

0x1

www.pi.ws

Wrong values of the E-861 parameters may lead to improper operation
or damage of your hardware. Be careful when changing parameters.

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

INT

100

P-Term of PID-parameter
set
for nanostepping mode

0 to 65535

E-861 PZ205E Release 1.2.1

Page 41

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

0x2

INT

100

I-Term of PID-parameter
set
for nanostepping mode

0 to 65535

0x3

INT

100

D-Term of PID-parameter
set
for nanostepping mode

0 to 65535

0x4

LONG
INT

100

I-limit

0 to 2,000,000

Maximum position error
(user unit)

Used for stall detection. If the
position error (i.e. the absolute
value of the difference
between current position and
commanded position) in
closed-loop operation exceeds
the given maximum, the
controller sets error code
-1024 (“Motion error”), the
servo will be switched off and
the axis stops.
Note that with open-loop
referencing exceeding of
maximum position error is not
indicated.

100

Maximum closed-loop
velocity (user unit/s)

Gives the maximum value
which can be set with the VEL
command (p. 188).
On power-on, the closed-loop
velocity is set by parameter
0x4B
Gives the current closed-loop
acceleration limited by
parameter 0x4A

0x8

0xA

FLOAT

100

0xB

FLOAT

100

Current closed-loop
acceleration (user unit/s2),
also changed by ACC
command (p. 118).

0xC

FLOAT

100

Closed-loop deceleration
Gives the current closed-loop
(user unit/s2), also changed deceleration limited by
by DEC command (p. 119). parameter 0x4B

0xE

INT

100

Numerator of the countsper-physical-unit factor

www.pi.ws

E-861 PZ205E Release 1.2.1

1 to 1,000,000 for each
parameter.

Page 42

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

0xF

INT

100

The counts-per-physical-unit
factor determines the "user"
unit for closed-loop motion
commands. When you change
this factor, all other
Denominator of the counts- parameters whose unit is
per-physical-unit factor
based on the "user" unit are
adapted automatically, e.g.
closed-loop velocity and
parameters regarding the
travel range.

0x14

INT

100

Stage has a reference

0x15

0x16

FLOAT

100

MAX_TRAVEL_RANGE_
POS
The maximum travel in
positive direction (user
unit)

"Soft limit", based on the home
(zero) position. If the soft limit
is smaller than the position
value for the positive limit
switch (which is given by the
sum of the parameters 0x16
and 0x2F), the positive limit
switch cannot be used for
referencing.
Smallest possible value is 0.

VALUE_AT_REF_POS
The position value at the
reference position (user
unit)

The position value which is to
be set when the mechanics
performs a reference move to
the reference switch.
Represents the physical
distance between the
reference switch and the
negative limit switch integrated
in the mechanics. When the
mechanics performs a
reference move to the
negative limit switch, the
position is set to the difference
of VALUE_AT_REF_POS and
DISTANCE_REF_TO_N_LIM.
0 = positive limit switch active
high (pos-HI), negative limit

0x17

FLOAT

100

DISTANCE_REF_TO_N_
LIM
The distance between
reference switch and
negative limit switch (user
unit)

0x18

INT

100

Axis limit mode

www.pi.ws

1 = the stage has a reference,
else 0

E-861 PZ205E Release 1.2.1

Page 43

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

switch active high (neg-HI)
1 = positive limit switch active
low (pos-LO), neg-HI
2 = pos-HI, neg-LO
3 = pos-LO, neg-LO

0x2F

100

DISTANCE_REF_TO_P_
LIM
The distance between
reference switch and
positive limit switch (user
unit)

Represents the physical
distance between the
reference switch and the
positive limit switch integrated
in the mechanics. When the
mechanics performs a
reference move to the positive
limit switch, the position is set
to the sum of
VALUE_AT_REF_POS and
DISTANCE_REF_TO_P_LIM.
"Soft limit", based on the home
(zero) position. If the soft limit
is smaller than the absolute
value of the position set for the
negative limit switch (i.e. the
difference of the parameters
0x16 and 0x17), the negative
limit switch cannot be used for
referencing.
Smallest possible value is 0.

0x30

FLOAT

100

MAX_TRAVEL_RANGE_
NEG
The maximum travel in
negative direction (user
unit)

0x31

INT

100

Invert the reference

1 = invert the reference, else 0

100

Stage has limit switches;
enables / disables the
stopping of the motion at
the limit switches

0 = Stage has limit switches
1 = Stage has no limit switches

Settle window (counts)

In closed-loop operation, the
on-target status is true when
the current position is inside
the settle window and stays
there for at least the settle time
(parameter ID 0x3F). The
settle window is centered
around the target position.
The minimum value for stable
positioning is 2.

0x32

INT

0x36

INT

0x3C

STRING 100

Stage name

Default is
"DEFAULT_STAGE-N"

0x3F

FLOAT

100

Settle time (s)

0 to 1.000 s;
see Settle window

0x47

INT

100

Default direction for

0 = detect automatically,

www.pi.ws

100

E-861 PZ205E Release 1.2.1

Page 44

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description
reference

0x49

0x4A

FLOAT

Possible Values/Notes

1 = start in negative direction,
2 = start in positive direction

100

Current closed-loop
Gives the current closed-loop
velocity (user unit/s) also
velocity limited by parameter
changed by VEL command
0xA
(p. 188)

100

Maximum closed-loop
acceleration (user unit/s2)

Gives the maximum value
which can be set with the ACC
command (p. 118) (for
parameter 0xB)
Gives the maximum value
which can be set with the DEC
command (p. 119) (for
parameter 0xC)
Is limited by Maximum closedloop velocity parameter (ID
0xA)

0x4B

FLOAT

100

Maximum closed-loop
deceleration (user unit/s2)

0x50

FLOAT

100

Closed-loop referencing
velocity (user units/s)

0x5A

INT

100

Numerator of servo loop
input factor

1 to 1,000,000 for each
parameter
The servo loop input factor
decouples servo loop
parameters from the encoder
resolution.
Not to be changed by the
customer.

0X5B

INT

100

Denominator of servo loop
input factor

Note that the servo loop input
factor is independent from 0xE
and 0xF, i.e. the counts-perphysical-unit factor. The
counts-per-physical-unit factor
has no influence on control
loop stability, but is used for
input and output scaling of
position values.

0x94

FLOAT

100

Notch filter frequency 1
(Hz)

40 to 20000
The corresponding frequency
component in the control value
is reduced to compensate for
unwanted resonances in the
mechanics.
Only active in closed-loop
operation. Should normally not
be changed (try to change only
with very high loads).

0x95

FLOAT

100

Notch filter edge

0.1 to 10
Gives the slope of the filter

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 45

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

edge. Do not change.

0xAC

FLOAT

100

Low-pass filter frequency
(Hz)

40 to 20000
Gives the cut-off frequency of
a low-pass filter which is only
active in closed-loop operation
and with analog mode motion

0x401

INT

100

P term of PID-parameter
set for analog mode

0 to 65535

0x402

INT

100

I term of PID-parameter set
0 to 65535
for analog mode

0x403

INT

100

D term of PID-parameter
set for analog mode

0 to 65535

Travel range minimum
(user unit)

By default set to a very large
value which should not be
changed.
Can be used as travel range
limit for open-loop motion with
OSM (p. 163), OAD (p. 155),
OMA (p. 158), OMR (p. 161):
if the current position reaches
this value, the motion is
stopped. In this case, enlarge
the limit.

Travel range maximum
(user unit)

Slewrate (ms)

1 to 1000 ms
This value affects the time
which is required for the
"preparing for motion" and
"relaxing" changes of the
motion state. Depending on
the current motion state, a
change of state can take up to
four times the slewrate value.
See "Modes of Operation"
(p. 54) for details.

0x7000000

0x7000001

0x7000002

www.pi.ws

INT

100

E-861 PZ205E Release 1.2.1

Page 46

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

0x7000003

FLOAT

100

Bending voltage,
also changed by SSA
command (p. 180)

0 to 55 V, gives the step size
for open-loop nanostepping
motion

100

Time to close servo
(ms)

1 to 1000 ms
Gives the time interval
between obtaining trajectory
voltage and closing of servoloop

100

Current open-loop velocity
(step cycles/s), also
changed by OVL command
(p. 165)

Gives the current open-loop
velocity, limited by parameter
0x7000204.
On power-on, the current
open-loop velocity is set by
parameter 0x7000201.

100

Current open-loop
Gives the current open-loop
acceleration (step
acceleration, limited by
2
cycles/s ), also changed by
parameter 0x7000205.
OAC command (p. 154)

100

Current open-loop
Gives the current open-loop
deceleration (step
deceleration, limited by
2
cycles/s ), also changed by
parameter 0x7000206.
ODC command (p. 157)

0x7000004

0x7000201

0x7000202

0x7000203

INT

FLOAT

Gives the maximum value
which can be set with the OVL
command (p. 165) (for
parameter 0x7000201).

0x7000204

FLOAT

100

Maximum open-loop
velocity (step cycles/s)

0x7000205

FLOAT

100

Maximum open-loop
acceleration (step
cycles/s2)

Gives the maximum value
which can be set for parameter
0x7000202

0x7000206

FLOAT

100

Maximum open-loop
deceleration (step
cycles/s2)

Gives the maximum value
which can be set for parameter
0x7000203

0x7000207

INT

100

Open-loop referencing
velocity (step cycles/s)

Is limited by Maximum openloop velocity parameter (ID
0x7000204)

PiezoWalk Driving mode

Determines how closed-loop
motion is performed:
0 = nanostepping mode only
1 = alternating sequence of
analog mode and
nanostepping mode

Axis unit

This parameter has to be set
consistent with the counts-perphysical-units factor given by

0x7001A00

INT

0x7000601

CHAR

www.pi.ws

100

E-861 PZ205E Release 1.2.1

Page 47

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description

Possible Values/Notes

parameters 0xE and 0xF
4711

GEMAC parameter 0
(Write register CFG0 on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

4711

GEMAC parameter 1
(Write register CFG1 on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

4711

GEMAC parameter 2
(Write register CFG2 on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

4711

GEMAC parameter 3
(Write register ERRMASK
on the GEMAC
interpolation circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

0x7000014

4711

GEMAC parameter 4
(Write register PHASE on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

0x7000015

GEMAC parameter 5
(reserved)

Read only.
Not included in SEP?
response

0x7000016

GEMAC parameter 6
(reserved)

Read only.
Not included in SEP?
response

4711

GEMAC parameter 7
(Write register SGAIN on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

4711

GEMAC parameter 8
(Write register SOFF on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

4711

GEMAC parameter 9
(Write register CGAIN on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

0x700001A

4711

GEMAC parameter 10
(Write register COFF on
the GEMAC interpolation
circuit)

Can be set with SPA and
saved with WPA. Not available
for SEP and SEP?

0x700001B

4711

GEMAC parameter 11

Can be set with SPA and

0x7000010

0x7000011

0x7000012

0x7000013

0x7000017

0x7000018

0x7000019

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 48

Controller Parameters

Parameter
ID (hexadecimal)

Data
Type

Password for
Writing to NonVolatile
Memory

Parameter
Description
(Write register SYNC on
the GEMAC interpolation
circuit)

Possible Values/Notes

saved with WPA. Not available
for SEP and SEP?

0x700001C

GEMAC parameter 12
(internal use)

Read only.
Not included in SEP?
response

0x700001D

GEMAC parameter 13
(internal use)

Read only.
Not included in SEP?
response

0x700001E

GEMAC parameter 14
(internal use)

Read only.
Not included in SEP?
response

0x700001F

GEMAC parameter 15
(internal use)

Read only.
Not included in SEP?
response

4.5

Default-Stage-N Parameter Settings
If you purchased an E-861 controller without a NEXACT® stage parameter
settings as listed below are stored on the controller's non-volatile memory.
If you operate a NEXACT® stage with an E-861 NEXACT® controller, you
can send the following query commands via a terminal program like
PITerminal, or via the command entry of PIMikroMove:

■

HPA? to get a list of all available parameters with short descriptions

■

SPA? to get all parameters with their present values as they are set
in the controller’s volatile memory

Note that with Default-Stage-N parameter settings, e.g. reference and limit
switches are not recognized (0x32 for limit switches is set to 1), and
position is commanded in counts.
The response to SPA? delivers the parameter settings:
==== new connection: E-861 on RS-232: COM1, 9600 baud ====
>>*IDN?
<<(c)2010 Physik Instrumente(PI) Karlsruhe,E-861 Version 7.2.0
>>spa?
<<1
0x1
=
100
<<1
0x2
=
50
<<1
0x3
=
0
<<1
0x4
=
2000

www.pi.ws

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Page 49

Controller Parameters

<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1
<<1

www.pi.ws

0x8
0xA
0xB
0xC
0xE
0xF
0x14
0x15
0x16
0x17
0x18
0x2F
0x30
0x31
0x32
0x36
0x3C
0x3F
0x47
0x49
0x4A
0x4B
0x50
0x5A
0x5B
0x94
0x95
0xAC
0x401
0x402
0x403
0x7000000
0x7000001
0x7000002
0x7000003
0x7000004
0x7000201
0x7000202
0x7000203
0x7000204
0x7000205
0x7000206
0x7000207
0x7001A00
0x7000601
0x7000010
0x7000011
0x7000012
0x7000013
0x7000014
0x7000015
0x7000016
0x7000017
0x7000018
0x7000019
0x700001A
0x700001B
0x700001C
0x700001D
0x700001E
0x700001F

=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=

1000000.0
1000000.0
500000.0
500000.0
1
1
0
2147483647.0
0.0
2147483647.0
0
2147483647.0
-2147483647.0
0
1
10
DEFAULT_STAGE-N
0.010000
0
250000.0
10000000.0
10000000.0
100000.0
50000
1
10000.000
0.800
200.000
100
100
0
-2147483647.0
2147483647.0
10
55.0000
10
200
2000
2000
1500
2000
2000
100
0
counts
252
10
60
0
15
0
0
128
0
128
0
0
255
0
0
70

E-861 PZ205E Release 1.2.1

Page 50

System Description

5.1

Basic Elements
For successful operation of the E-861, you should familiarize yourself with
the following features of the device.
Logical Axes:
The E-861 controls one logical axis of a mechanics. See "Accessible Items
and Their Identifiers" (p. 53) for details.
Input and Output Signals:
Input and output signals can be used for triggering purposes, and the input
signals of a joystick can furthermore be used for velocity control of the
E-861. See "Accessible Items and Their Identifiers" (p. 53) for details.
Communication Interfaces:
The E-861 can be controlled from a host computer (not included) with
ASCII commands sent via:

■

RS-232 serial connection

■

USB interface: The USB drivers will make the USB interface appear
to all software on the host PC as a new COM port. That port will be
present only when the controller is connected via USB and powered
on.

CAUTION
Never connect the RS-232-IN and USB connectors of the same
controller to a PC at the same time as this can cause damage to the
controller.
Up to 16 E-861 controllers can be controlled from a single host computer
interface via a daisy chain.
See "Connecting Controller or Daisy-Chain Network to Host PC" (p. 27) for
more information.
Controller Firmware:
The firmware comprises the ASCII command set and the controller
parameters. For version information and updates see "Firmware Update".

■

www.pi.ws

ASCII Commands:

E-861 PZ205E Release 1.2.1

Page 51

System Description

The E-861 understands the PI General Command Set (GCS; version
2.0).
The PI General Command Set (GCS) is supported by a wide range
of PI systems. This command set is well-suited for positioning tasks
with one or more axes. The command set itself is independent of the
specific hardware (controller or attached stages).
Commands are used, for example, to set operating modes, to initiate
motion of the mechanics and to query system and motion values.
See "GCS Commands" (p. 107) for more information.

■

Controller Parameters:
The hardware basics of the motion system (controller and connected
mechanics) are mirrored in controller parameters. Some of the
parameters are protected so that their factory settings cannot be
changed, other parameters can be modified by the user to adapt the
system to the individual application. See "Controller Parameters"
(p. 35) and "Customizing the System” (p. 89) for more information.

■

Special Features:
Data recorder: The E-861 comprises a real-time data recorder. It is
able to record several signals (e.g. current position, analog input)
from different data sources (e.g. logical axes or input channels). See
"Data Recording" (p. 88) for more information.
Macros: The E-861 can store macros. The macro feature allows
defining command sequences and storing them permanently in nonvolatile memory in the device. It is possible to define a macro that will
be executed automatically every time the E-861 is started, facilitating
stand-alone operation without a host computer. See "Working with
Controller Macros" (p. 82) for more information.

■

Control algorithm for Closed-Loop Operation:
For better position accuracy and performance, the E-861 can be
operated in closed-loop mode. A proportional-integral-differential
(P-I-D) servo-control algorithm (with sensor feedback) will then apply
corrections to the internal control value. See "Tuning PID Control
Parameters" (p. 95) for more information.

Software on Host PC
Usually, a host computer is used to operate or at least configure the E-861.
Therefore an ample array of software tools for installation on the host
computer comes with the E-861. For a complete list of all software on the
E-861 CD, see "Software Description" (p. 10).

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 52

System Description

5.2

Accessible Items and Their Identifiers
The identifiers listed below are used to address the appropriate items with
the commands of the PI General Command Set (GCS) which is supported
by the firmware of the E-861.
The identifiers of the following items are factory defaults and cannot be
changed by the user:

www.pi.ws

■

Logical axis/PiezoWalk channel: one axis/PiezoWalk channel,
the identifier is 1.
In the E-861 firmware, motion for logical axes (i.e. for the directions
of motion of a stage) is commanded with the closed-loop move
commands MOV (p. 151) and MVR (p. 153) and with the open-loop
move commands OMA (p. 158) and OMR (p. 161).
Motion for PiezoWalk channels (i.e. for single NEXACT® linear
drives) is commanded using the open-loop move commands OAD
(p. 155) and OSM (p. 163).
Since the E-861 is a single-axis / single-channel device, the terms
"axis" and "PiezoWalk channel" can be used synonymously.

■

Analog input channels: six channels, the identifiers are 1 to 6.
"Genuine" analog input lines, with the identifiers 1 to 4, are Input 1 to
Input 4 on the I/O socket (p. 218). Their number is reported by the
TAC? command (p. 185), and their values can be queried with the
TAV? command (p. 185). Note that these lines can also be used for
digital input (see below).
Further analog input lines are located on the Joystick socket (p. 220):
channel 5 is the input line for the joystick axis and 6 the input line for
the joystick button. They are not reported by TAC? and TAV?
commands. See also the Joystick information below.
The values of all six channels can be recorded using the record
option 81 of the DRC command (p. 122).

■

Digital output lines: four lines, the identifiers are 1 to 4.
1 to 4 identify the Output 1 to Output 4 digital output lines on the I/O
socket (p. 218).
See "Using Trigger Input and Output" (p. 31) for more information.

■

Digital input lines: four lines, the identifiers are 1 to 4.
1 to 4 identify the Input 1 to Input 4 digital input lines on the I/O
socket (p. 218) which can also be used for analog input (see above).
See "Using Trigger Input and Output" (p. 31) for more information.

■

Joystick: one joystick device, identifier is 1 with all joystick-related
commands. Note that the second joystick device shown in some
responses is an analog input which is currently deactivated and
provided for future applications.

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The E-861 supports one axis and one button of the joystick.
The identifier of the joystick axis is 1 with joystick-related commands
(JAS? (p. 138), JAX (p. 139), JAX? (p. 140), JDT (p. 141), JLT
(p. 142), JLT? (p. 143)) and 5 with the DRC command, record option 81.
The identifier of the joystick button is 1 with the joystick-related JBS?
command (p. 140) and 6 with the DRC command, record option 81.
See "Joystick Control" (p. 79) and "Joystick Socket" (p. 220) for more
information.

■

Data recorder tables (memory tables for recorded data): 2
tables with 1024 points per table, the identifiers are 1 and 2.
See "Data Recording" (p. 88) for more information.

Each E-861 must have a unique controller address. The controller address
can be changed by the user if , for example, a daisy chain network is to be
set up:

■

5.3

Controller address: the E-861 device address in the range of 1 to
16 and, in a daisy-chain, one controller must have address 1. The
address can be set with the DIP switches on the front panel, see
"DIP Switch Settings" and "Target and Sender Address" (p. 110) for
details.

Modes of Operation
In this section you find information about the following items:

■

Servo modes

■

Motion modes, including:
A short description of the nanostepping mode working principle
A short description of the analog mode working principle
An assignment of move commands to motion and servo modes

■

Changing motion and servo mode including states and transitions
implemented in the controller’s firmware

■

PiezoWalk Driving mode parameter, i.e. automatic alternating
between nanostepping and analog motion modes, including:
A short description of the PiezoWalk Driving mode parameter
Advantages of alternating motion modes
What to consider if using automatic alternating of the two motion

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modes
Motion sequence
Sequence of transitions and states

■

5.3.1

Application notes

Servo Modes

The E-861 provides the following servo modes:

■

Open-loop operation (also referred to as "servo-off state" in this
document): sensor feedback is not used

■

Closed-loop operation (also referred to as "servo-on state" in
this document): sensor feedback participates in the internal control
value generation.
A proportional-integral-differential (P-I-D) servo-controller is used to
generate corrections to the internal control value. In addition,
velocity, acceleration, deceleration as well as settle time and settle
window values are accessible as parameters. See "Parameters for
Customizing" (p. 90) and “Tuning PID Control Parameters” (p. 95) for
more information.

The servo mode can be selected with the SVO command (p. 183). Openloop operation is active after power-on. Using a start-up macro, you can set
up the device to start with closed-loop operation (see "Working with
Controller Macros" (p. 82) for more information).
You can query the current servo mode using the SVO? command (p. 185)
or with the #4 (p. 114) and SRG? commands (p. 178) which have a bitcoded response.
For additional information see also "Control Value Generation" (p. 68),
"Control Algorithm" (p. 76) and "PiezoWalk Driving Mode" (p. 63).

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CAUTION
If no sensor is present in your system:

■

Do not switch servo on (SVO command)

■

Do not send commands for closed-loop motion, like MOV or MVR

■

Do not send the open-loop commands OMA and OMR, since they
use a sensor, too

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Otherwise the connected mechanics can run into the hard stop at full
speed, which may cause damage to your hardware setup.

5.3.2

Motion Modes

With the NEXACT® design two basic motion modes are realized based on
the design of a NEXACT® piezo drive module:
A piezo drive module consists of four NEXACT® piezo actuators. The
individual actuators themselves each consist of two segments (Figure 4) of
piezo bender elements.

Figure 4: Design of NEXACT® piezo drive module. The four NEXACT® piezo
actuators each consist of two segments. The numbers 1, 2 designate the
actuator pairs which are controlled in an identical way

The actuators of a piezo drive module are all cyclically controlled in pairs
(= actuator pairs). When a drive contains several piezo drive modules,
corresponding actuator pairs are controlled together. Every NEXACT®
drive therefore has to be controlled by means of four different signals for
the segments (U1 to U4). The voltage range for the bender elements is -10
to +45 V.
The feed is achieved by coordinated control of the segments. The actuator
pairs have different displacements. This causes the piezo drive module to
execute a stepping motion on the runner (see Nanostepping mode).
The two motion modes of the NEXACT® linear drives are implemented in
the E-861 firmware.

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Nanostepping mode
Characteristics:

■

Stepping motion over long distances

■

High velocity over longer travel ranges, limited only by the length of
the runner

■

Motion consists of multiple steps of about 10 µm in length at
minimum (without load; 5 µm with 10 N load), values can vary
depending on the stage type.

Control:
In nanostepping mode the segments of both pairs of legs are controlled
with a phase shift. Decisive for the feed of the runner are the resulting
voltages below:
Actuator pair 1 (U1, U2
in Figure 5)
Clamping voltage

Actuator pair 2 (U3, U4
in Figure 5)

Feed voltage

Figure 5: The runner moves in the X-direction. The module is preloaded against the
runner in Z-direction.

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The motion is realized by coordinated control of the feed and clamping
voltages for the piezo stacks in the NEXACT® drive, and can cover the
whole travel range of the mechanics.
Analog mode
Characteristics:

■

High-dynamics motion, limited by the step size in analog mode (a
few µm)

■

Positioning accurate to one picometer (open-loop)

Control:
All actuators are controlled in phase. The clamping voltage in analog mode
is 17.5 V, and hence the mean value of the possible piezo voltages of both
segments. The maximum travel range is thus available for the deflection
(see Figure 6).

NOTES
The actual step size can vary with the applied load.
The step size can differ for both directions of motion, depending on the
direction of force applied by the load: steps in the direction of the load
may be larger than the average step size, steps against the load may
be smaller.
The following motion commands are available:
■ Open-loop operation (servo off), nanostepping mode:
OSM (p. 163)
OMA (p. 158)
OMR (p. 161)

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Figure 6: Analog mode: All NEXACT ® piezo actuators are in contact with the
runner. The actuator pairs 1 and 2 are controlled in an identical way
(segment voltages U1 = U3, U2 = U4)

NOTE
With the OSM command steps are commanded using floating point
numbers, i.e. motion is not limited to complete steps only.

5.3.3

■

Open-loop operation (servo off), analog mode:
OAD (p. 155)

■

Closed-loop operation (servo on):
MOV (p. 151)
MVR (p. 153)

Changing Motion and Servo Mode

The working principle of a NEXACT® linear drive requires defined
transitions between the individual motion and servo modes.
For that purpose, the following transitions and states are provided (the
numbers given below identify the transitions and states in the responses to
the #4 command (p. 114) and the SRG? command (p. 178)):

■

Relaxing transitions (1) in which the NEXACT® linear drive is
brought to a full-holding-force, zero-drive-voltage Relaxed state (3).
Relaxing transitions are performed for the following actions:

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Switching the servo mode off with
SVO 0

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to change from closed-loop motion (MOV (p. 151), MVR
(p. 153)) to open-loop nanostepping motion (OSM (p. 163),
OMA (p. 158) or OMR (p. 161)) or to open-loop analog
motion (OAD (p. 155)) includes an automatic Relaxing
procedure.

■

Starting Relaxing manually with
RNP 0
Sending an RNP command (p. 168) is required in open-loop
operation each time you want to change from nanostepping
motion (OSM, OMA or OMR) to analog motion (OAD) or vice
versa.
It is also required if you want to change from analog motion
to closed-loop operation.

Transitions which prepare the NEXACT® linear drive automatically
for the desired motion mode by adjusting the drive voltages
(transport and clamping voltages) accordingly.
The duration of Relaxing transition (1), Go to analog transition (2)
and Go to motion transition (5) is determined by the slew rate
(parameter ID 0x7000002).

Note that for all figures below, the following is valid:
The numbers in brackets give the transition state (bits 8 to 11 in the
response SRG? ) and the servo mode (response to SVO?
).
#7 command (p. 116) queries if the controller is ready to perform a new
command. The response ° means that the controller is busy.
Transitions for open-loop analog motion:
Go to analog transition (2), is done by the first OAD sent for
a NEXACT® linear drive which is in the Relaxed state.
Go to analog transition (2) brings the drive in the Analog
state (0).
Once the drive is in the Analog state, each subsequent OAD
command will be executed immediately without any Go to
analog transition.

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Figure 7: Changing states with a first sent OAD (open-loop analog motion)

Transitions for open-loop nanostepping motion:
Go to motion transition (5) in open-loop operation, is done by
the first OSM, OMA or OMR sent for a NEXACT® linear
drive which is in the Relaxed state.
Go to motion transition (5) brings the drive in the In Motion
state (4).
Once the drive is in the In Motion state, each subsequent
OSM, OMA or OMR command will be executed immediately
without any Go to motion transition.

Figure 8: Changing states with a first sent OSM (open-loop nanostepping motion).
Analog transitions are valid for first sent OMA or OMR commands.

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•

Transitions for closed-loop motion
Go to motion transition (5) in closed-loop operation, is done
when
SVO 1
is sent to switch servo on for a NEXACT® linear drive which
is in the Relaxed state.
Go to motion transition (5) brings the drive in the In Motion
state (4).
Note that after switching servo on the controller can be busy
for approximately 100 ms, depending on slewrate setting.
Once the drive is in the In Motion state in closed-loop
operation, each subsequent closed-loop move command
(e.g. MOV or MVR) will be executed immediately without any
Go to motion transition.
Note that if the drive is in open-loop operation and in the In
Motion state (i.e. open-loop nanostepping motion was done
with OSM, OMA or OMR), switching servo on will cause no
Go to motion transition, and the drive is immediately ready
for closed-loop motion.

Figure 9: Changing states with first sent SVO command for subsequent closedloop motion

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5.3.4

PiezoWalk Driving Mode

Closed-loop motion can be realized either as nanostepping motion or as a
mix of analog mode motion and nanostepping motion. The decision for one
of the options depends on your application.
See below for the decision criteria and further details.
Switching between the two options is done via the PiezoWalk Driving Mode
parameter (ID 0x7001A00). Note that only if servo is on you can activate
automatical alternating of motion modes by setting the PiezoWalk Driving
Mode parameter to 1 with the SPA command (p. 175).
Thus the following two options exist with closed-loop operation:
A) With 0x7001A00 set to 0:

■

only nanostepping mode is used

■

PID parameters for nanostepping mode are:
0x1 for P-term
0x2 for I-term
0x3 for D-term
B) With 0x7001A00 set to 1:

■

An alternating sequence of analog mode and nanostepping mode is
used

■

Two PID parameter sets:
PID set for nanostepping mode, as listed above
PID set for analog mode, as listed below:
0x401 for P-term
0x402 for I-term
0x403 for D-term

Advantages of Alternating Motion Modes

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■

Increased stiffness when axis is on target (compared to use of
nanostepping mode)

■

Provided that system features appropriate mechanics, increased
accuracy can be obtained due to two PID parameter sets

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■

The piezo voltages can be reduced (compared to motion in pure
nanostepping mode), increasing the actuators' lifetime

What You Have to Consider When Closed-Loop Motion is
Realized With Alternating Motion Modes

■

Depending on load and motion direction, settling can require
repeated change of motion mode. This may cause a repeated
opening and closing of the servo-loop.

■

Positioning may take longer than if you use only nanostepping mode.

■

For accurate positioning, sensors of the system must have a
minimum resolution of 20 nm.

Motion Sequence
How to perform closed-loop motion as a mix of analog and nanostepping
mode:
1
Make sure that servo is on
You can check the servo state using the SVO? command (p. 185)
(response must be 1=1).
To activate servo send:
SVO 1 1
2

Make sure that parameter 0x7001A00 is set to 1.
You can check the parameter value using the SPA? command
(p. 178).
Send SPA? 1 0x7001A00
To set the parameter send:
SPA 1 0x7001A00 1
Command motion with MOV or MVR.

Motion starts and ends in analog mode where the target position is
maintained with maximum stiffness, since both piezo stack pairs are in
contact with the runner of the NEXACT® linear drive. See Figure 10 for
detailed motion sequence.
With each change of motion mode (from analog mode to nanostepping
mode and vice versa) a Relaxing procedure is performed automatically, see
"Changing Motion and Servo Mode" (p. 59), and servo is switched off and
on automatically.
The criteria for the changes between the motion modes are given by the
E-861 firmware and cannot be changed.

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Any changes of piezo voltage -as they occur with Relaxing procedures can induce undesired motion. Therefore checks as described in Figure 10
are necessary.

Figure 10: Closed-loop motion sequence with changes from analog mode to
nanostepping mode and vice versa

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Sequence of Transitions and States
With alternating motion modes, transitions and states performed are as
described below:

Figure 11: State machine for alternating motion modes

#7 command (p. 116) queries if the controller is ready to perform a new
command. The response ° means that the controller is busy during both
rearranging-the-actuators steps.
The steps illustrated in the figure above consist of the transitions and states
as listed below. The numbers in brackets give the transition state (bits 8 to
11 in the response SRG? , see SRG? command (p. 178)).

■

Rearrange actuators for nanostepping mode consists of :

Relaxing transition (1)
Relaxed state (3)
Go to motion state (5)
A delay time set by parameter ID 0x7000004

■

Nanostepping mode consists of:

In motion state (4)

■

Rearrange actuators for analog mode consists of:

Relaxing transition (1)
Relaxed state (3)
Go to analog state (2)
A delay time set by parameter ID 0x7000004

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■

Analog mode consists of:

Analog state (0)

5.3.5

Application Notes

Sending an RNP command brings the NEXACT® linear drive to a fullholding-force, zero-drive-voltage Relaxed state.
Depending on the application conditions and parameter settings sending an
RNP command causes a positional error of a few tens of nanometers up to
one micrometer.
After switching from closed-loop to open-loop operation using the SVO
command, the open-loop motion commands (OAD (p. 155), OSM (p. 163),
OMA (p. 158), OMR (p. 161)) can be sent immediately.
After open-loop analog motion was done with OAD, an RNP command
(p. 168) must be sent before servo can be switched on with SVO.
In open-loop operation, an RNP command must be sent each time the
motion mode is to be changed from nanostepping (OSM, OMA, OMR) to
analog (OAD) motion and vice versa.
The following actions can take up to four times the slewrate value
(parameter ID 0x7000002):

■

Switching servo on or off

■

The first OAD after a change of motion mode

■

The first OSM or OMA or OMR after a change of motion mode

■

The RNP procedure

If a required transition between different motion modes was omitted, the
E-861 sends an error message.
You can query the current state of the system (E-861 and NEXACT® linear
drive) using the #4 command (p. 114) or the SRG? command (p. 178).
With #7 (p. 116), you can query if the controller is ready to perform a new
command. If the controller responds with °, it is not ready.
While a joystick connected to the E-861 is enabled with the JON command
(p. 145), the servo can be switched on or off for the axis, and no transition
is required. The axis can be controlled immediately by the joystick.

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The recommended maximum step frequency for NEXACT® drives is
800 Hz. This applies to continuous operation. For short periods it is also
possible to work with higher frequencies (see considerations regarding
velocity in the Glossary of the included N310T0011 Technical Note with
details about the NEXACT® Technology).

5.4

Control Basics
In this section you find information about the following items:

5.4.1

■

Control value generation for both servo modes

■

Trajectory generation

■

Control algorithm

■

Motion error handling

Control Value Generation

The E-861 features closed-loop and open-loop servo modes for control of
the connected mechanics. The servo mode can be selected with the SVO
command (p. 183).
You can query the current servo mode using the SVO? command (p. 185)
or with the #4 (p. 114) and SRG? commands (p. 178) which have a bitcoded response.
Open-loop mode is active after power-on. Using a start-up macro, you can
set up the device to start with closed-loop mode. The macro feature allows
defining command sequences and storing them permanently in non-volatile
memory in the controller. In addition to the servo mode setting you can, for
example, program conditional execution of motion. See "Working with
Controller Macros" (p. 82) for more information.

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■

Closed-loop mode (servo on)
The block diagram below shows how the E-861 generates the output
voltage for the connected axis (NEXACT® stage) from given input for
closed-loop mode.

NEXACT® stages are generally operated in closed-loop mode. With the
E-861, a trajectory generator calculates the motion profile from the
given target position, velocity, acceleration and deceleration.
The position error resulting from the difference of the generated
trajectory and the current position (sensor feedback) is passed through
a proportional-integral-differential (P-I-D) algorithm. The result is the
control value for the drive electronics integrated in the E-861.
With the E-861 closed-loop motion can be performed either as
nanostepping motion or as a mix of analog mode motion and
nanostepping motion. Therefore there are two PID parameter sets, one
for nanostepping motion and one for analog motion.
See "PiezoWalk Driving Mode" (p. 63) for how to activate automatic
alternating of motion modes and details regarding the PiezoWalk
Driving mode's motion sequence.
With nanostepping motion the control value is in a range of -32767 to
32768. This value is processed so as to provide a constant input to the
drive electronics (by an integration step) and to obtain a residual value
between -32767 to 32768 as input for a step table.
This step table provides the four segment voltages U1 to U4. These are
responsible for the motion of the piezo segments in the NEXACT®
drive.
See also "Motion Modes" (p. 56) or read the N310T0011 Technical Note
delivered with the controller for further details regarding the

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nanostepping motion sequence and how segment voltages are formed.
With analog motion the control value range of -32767 to + 32768 is used
according to the bending motion. Here, segment voltages U1 equals U3
and U2 equals U4.
You can use the following move commands:
for usual moves:
MOV (p. 151), MVR (p. 153), GOH (p. 135),
STE (p. 181)
for reference moves:
FNL (p. 129), FPL (p. 131), FRF (p. 133)
for hardware evaluation: FED (p. 128)

■

Open-loop mode (servo off)
The block diagram below shows how the E-861 generates the output
voltage for the connected axis (NEXACT® stage) from given input for
open-loop mode.

The open-loop mode omits servo-control algorithm. With open-loop
mode motion can be performed as nanostepping motion using the
OSM (p. 163), OMA (p. 158) and OMR (p. 161) commands or as
analog motion using the OAD (p. 155) command.
Note that OMA and OMR commands can only be used if your system
features a sensor, otherwise the connected mechanics can run into the
hard stop at full speed.
The commanded open-loop target can be queried using OMA? (p. 160)

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respectively OAD? (p. 157).
With open-loop mode, you can also use the following move
commands:
for reference moves:
FNL (p. 129), FPL (p. 131), FRF (p. 133)
for hardware evaluation: FED (p. 128)
Before absolute targets can be commanded (MOV, OMA), the mechanics
must be referenced. Depending on the reference mode setting, even
relative moves require referencing.
See "Referencing" (p. 51) for details.
Joystick operation is possible with both closed-loop and open-loop
operation.
While a joystick connected to the E-861 is enabled with the JON command,
this joystick controls the axis velocity ("commanded velocity" output by the
trajectory generator). During joystick control, the target position is set to the
travel range limits given by the Max_Travel_Range_pos and
Max_Travel_Range_neg parameters (0x15 and 0x30, see "Travel Range
Adjustment" (p. 92) for more information). When disabling a joystick, the
target position is set to the current position for joystick-controlled axes.
For further joystick-related commands see the "Joystick Control" (p. 79).
See "Motion Modes" (p. 56) for a short description of the nanostepping and
analog motion.

5.4.2

Trajectory Generation

A trajectory generator performs calculations to determine the current
position, velocity, acceleration and deceleration of the axis at any given
moment in time ("motion profile"). These values are called the commanded
values (see also "Control Value Generation" (p. 68)).
The profile that is created by the trajectory generator of the E-861 depends
on the motion parameters given by corresponding commands, by controller
parameters and/or by a joystick:
Motion
Parameter
Acceleration
(A)

Corresponding
Commands
ACC (p. 118), ACC?
(p. 118)
for
closed-loop mode

OAC (p. 154), OAC?
(p. 155)
for
open-loop mode

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Corresponding
Controller Parameter
Current closed-loop
acceleration (parameter ID
0xB; user unit/s2)
Changed by ACC or by
SPA / SEP, can be saved
with WPA
Current open-loop
acceleration (parameter ID
0x7000202; step cycles/s2)
Changed by OAC
command or by SPA /

E-861 PZ205E Release 1.2.1

Notes
Limited by parameter
0x4A (Maximum
closed-loop
acceleration)

Limited by parameter
0x7000205
(Maximum open-loop
acceleration)

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System Description

Motion
Parameter

Corresponding
Commands

Deceleration
(D)

DEC (p. 119), DEC?
(p. 120)
for
closed-loop mode

ODC (p. 157), ODC?
(p. 158)
for
open-loop mode

Velocity (V)

VEL (p. 188), VEL?
(p. 189)
for
closed-loop mode

OVL (p. 165), OVL?
(p. 166)
for
open-loop mode

Target

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Corresponding
Controller Parameter
SEP, can be saved with
WPA
Current closed-loop
deceleration (parameter ID
0xC; user unit/s2)
Changed by DEC
(p. 119) or by SPA / SEP,
can be saved with WPA
Current open-loop
deceleration (parameter ID
0x7000203; step cycles/s2)
Changed by ODC
command or by SPA /
SEP, can be saved with
WPA
Current closed-loop
velocity (parameter ID
0x49; user unit/s)
Changed by VEL or by
SPA / SEP, can be saved
with WPA
Current open-loop velocity
(parameter ID 0x7000201;
step cycles/s)
Changed by OVL
command or by SPA /
SEP, can be saved with
WPA

MOV (p. 151), MVR
(p. 153), GOH (p. 135),
STE (p. 181)
for
closed-loop mode

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Notes

Limited by parameter
0x4B (Maximum
closed-loop
deceleration)

Limited by parameter
0x7000206
(Maximum open-loop
deceleration)

Limited by parameter
0xA (Maximum closedloop velocity)
respectively by
parameter 0x7000204
(Maximum open-loopvelocity)
A joystick connected to
the E-861 which is
enabled with the JON
command (p. 145)
applies a factor to the
current velocity set
with VEL respectively
OVL, see "Joystick
Control" (p. 79) for
details.
A joystick connected to
the E-861 which is
enabled with the JON
command (p. 145) sets
the travel range limits

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System Description

Motion
Parameter

Corresponding
Corresponding
Commands
Controller Parameter
OMA (p. 158), OMR
(p. 161), OSM (p. 163)
for
open-loop mode

Notes
as target position.
When disabling a
joystick, the target
position is set to the
current position for
joystick-controlled
axes. See "Joystick
Control" (p. 79) for
details.
When the servo is
switched on with the
SVO command
(p. 183) or when axis
motion has been
stopped with #24
(p. 117), STP (p. 182)
or HLT (p. 137), the
target position is set to
the current position.

Note that with open-loop mode the dimensions use step cycles instead of,
e.g., µm.
Furthermore, be aware that the distance achieved by step cycles in openloop is not as reproducible as a distance commanded in closed-loop mode:
with open-loop changing conditions such as changed load or motion
direction are not compensated by a servo loop.

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The trajectory generator of the E-861 supports trapezoidal point-to-point
profiles only: the axis accelerates linearly (at the given acceleration value)
until it reaches the given velocity. It continues in motion at that velocity,
then decelerates linearly (using the deceleration value) until it stops at the
specified target position.

Figure 12: Simple trapezoidal point-to-point profiles, A = acceleration, D =
deceleration, V = velocity

If deceleration must begin before the axis reaches the given velocity, the
profile will have no constant velocity portion, and the trapezoid becomes a
triangle.

Figure 13: Simple trapezoidal point-to-point profile, A = acceleration, D =
deceleration, no constant velocity

The slopes of the acceleration and deceleration segments may be
symmetric (if acceleration equals deceleration) or asymmetric (if
acceleration is not equal to deceleration).
The acceleration parameter is always used at the start of the motion.
Thereafter, the acceleration value will be used when the absolute velocity is
increasing, and deceleration will be used when the absolute velocity is
decreasing.

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If no motion parameters are changed during the motion then the
acceleration value will be used until the maximum velocity is reached, and
the deceleration value will be used when ramping down to zero.

Figure 14: Complex trapezoidal profile, showing parameter changes; A =
acceleration; D = deceleration; V1, V2, -V2 = velocities

It is acceptable to change any of the motion parameters while the axis is
moving. The profile generator will always attempt to remain within the legal
bounds of motion specified by the parameters.
If, during the motion, the target position is changed in such a way that an
overshoot is unavoidable, the profile generator will decelerate until stopped,
then reverse direction to move to the specified position.

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5.4.3

Control Algorithm

Figure 15: P-I-D algorithm with offset compension

The E-861 controller for NEXACT® stages uses a proportional-integraldifferential (P-I-D) algorithm.
See "Tuning the PID Control Parameters" (p. 95) for how PID control
parameters can be adjusted.
The controller features two sets of PID parameters. One is used if
nanostepping motion is performed. The second is used for analog motion:

■

PID parameter IDs for nanostepping mode are:
0x1 for P-term
0x2 for I-term
0x3 for D-term

■

PID parameter IDs for analog mode :
0x401 for P-term
0x402 for I-term
0x403 for D-term

NOTE
The PID set for analog motion is only active if the automatic alternating
of motion modes is activated by the PiezoWalk Driving mode
parameter (ID 0x7001A00) and if stage is in analog motion.

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See "PiezoWalk Driving Mode" (p. 63) for further information about
alternating motion modes.
See also "Controller Parameters" (p. 35) for detailed parameter descriptions
and parameter handling.
When you are working with the host software from PI, you can select your
stage type from a database which contains, amongst others, initial values
for the parameters of the P-I-D algorithm.
The host software will then send the appropriate parameter values to the
controllers volatile memory. See also "How to Store Parameter Settings"
(p. 37) and "How to Create a New Stage Type in the PI Stages Database"
(p. 98) for more information.

5.4.4

Motion Error Handling

Under certain circumstances, the current axis position (position feedback)
may differ from the commanded position by an excessive amount. Such an
excessive position error can indicate a potentially dangerous condition such
as drive or encoder failure.
With the E-861 in closed-loop mode, it is possible to detect an excessive
position error in the form of a "motion error" (error code: -1024).
The "motion error" criterion is given by the Maximum position error
parameter (ID 0x8). You should set that parameter to the maximum position
error which is tolerable in your application.
See "Controller Parameters" (p. 35) for more information on how to change
parameter values.
If the position error falls out of the window formed by the Maximum position
error parameter, the servo is switched off automatically for the axis
concerned, all motion is stopped immediately, and error code -1024 is set
(see figure below). Proceed as follows in case of a motion error:

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Get the code of the last occurred error. In case of a motion error
the response is -1024. The query resets the error to 0.

Check your hardware and make sure that it is safe for the stage to
move the axis.

Switch the servo on for the axis using the SVO command (p. 183).
This sets the target position to the current position of the axis.

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The axis is now able to move again, and you can command a new target
position.

Figure 16: Motion error handling

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Joystick Control

CAUTION
Do not enable a joystick via command when no joystick device is
connected to the controller hardware. Otherwise the corresponding
controller axis may start moving and could damage your application
setup.

NOTE
Before a joystick can be operated correctly, a calibration routine may
need to be performed. Activating the joystick before calibration may
cause the axis to start moving even though the joystick is in the neutral
position.
To calibrate a joystick axis of C-819.20 turn the corresponding "Adjust"
knob on the joystick until the axis stops.
E-861 controllers offer convenient manual motion control. One C-819.20
analog joystick device can be connected to the Joystick socket (p. 220) of
the E-861. The E-861 supports one axis and one button of the joystick
device. See "Accessible Items and Their Identifiers" (p. 53) for the joystick
related identifiers to use in commands.

Figure 17: C-819.20 joystick device

The two joystick axes of an C-819.20 joystick device can be connected
through the C-819.20Y cable to two E-861 controllers. In this case, on both
controllers the joystick axis 1 must be selected for operation (the Y-cable
maps the signals internally). If the "Axis Y" branch of the Y-cable is to be
used, the "Axis X" branch must also be connected to a controller to provide

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the supply power for the joystick device.
When a joystick is connected directly to the controller, it is the velocity of
the motion axes that is determined by the displacement of the
corresponding joystick axes.
For each joystick axis there is a lookup table that defines the velocity
response for a certain amplitude of the joystick axis. The values in the
lookup table are factors which will during joystick control be applied to the
velocity set with VEL (p. 188) (closed-loop operation) or OVL (p. 165)
(open-loop operation) for the controller axis, the range is -1.0 to 1.0.
To change a lookup table, you can load default profiles provided by the
controller, or you can write a custom profile to the lookup table point-bypoint (256 values).
While a joystick is active on a controller axis which is equipped with a
position sensor, it is possible to switch from open-loop to closed-loop
operation and vice versa with the SVO command (p. 183).
When disabling a joystick, the target position is set to the current position
for joystick controlled axes which are in closed-loop operation.

Commands for joystick handling:
JON (p. 145)

JON? (p. 145)
JAX (p. 139)

JAX? (p. 140)
JAS? (p. 138)

JBS? (p. 140)

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Enables or disables a specified joystick device for joystick
operation.
While a joystick is active on a controller axis, move
commands are neither accepted from the command line
nor from macros for that axis.
Queries the current activation state of the joystick devices.
Sets the controller axis which is to be controlled by a
joystick axis.
Each axis of a controller can only be controlled by one
joystick axis.
Queries the current assignment of controller axes to
joystick axes.
Queries the current status of joystick axes. The response
corresponds to the current displacement of the joystick
axis and is the factor which is currently applied to the
current valid velocity setting of the controlled motion axis,
according to the lookup table.
Queries the current status of joystick buttons. The
response indicates if the joystick button is pressed;
0 = not pressed, 1 = pressed.

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JDT (p. 141)

Sets predefined lookup-table types for the joystick axes.
The current lookup-table content for the specified joystick
axis is overwritten by the selection made with JDT.
The E-861 provides the following lookup-table types for
special applications:
1 = linear (power-on default)
2 = parabolic

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JLT (p. 142)

Fills the lookup table for a joystick axis point-by-point. This
overwrites the current lookup table content for this joystick
axis. See the command description for an example.

JLT? (p. 143)

Reads the current lookup-table values.

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Working with Controller
Macros
The macro feature allows defining command sequences and storing them
permanently in non-volatile memory in the controller. Each defined macro
can be called up by its own user-defined name.
In addition, it is possible to define a macro that will be executed
automatically every time the E-861 is started, making possible stand-alone
operation without a host computer. See the subsections below and the
MAC command (p. 146) description for more details and examples.

NOTE
Macros can only be real-time processed if controller is not busy with
extensive communication, as e.g. reading out the data recorder. The
more commands are sent during performance of a macro the less realtime processing of the macro is possible.

NOTE
PIMikroMove offers a comfortable macro editor on the Controller
macros tab card. Furthermore, PIMikroMove offers the "Host macro"
feature which makes it possible to save macros on the host PC.

7.1

Defining Macros
To define a macro command sequence, first activate macro recording
mode with the command MAC BEG where is
a user-settable name with a maximum of 8 characters. While in macro
recording mode, commands are not executed but stored in macro storage.
Recording mode is exited by the MAC END command.
A macro can call another macro. Further nesting is not allowed (only one
nesting level). A macro can call itself to form an infinite loop.
During macro recording no macro execution is allowed.
A macro can be overwritten by a macro with the same name.
A running macro sends no responses to any interface. This means
questioning commands are allowed in macros but not answered and
therefore useless.

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The following commands provided by the E-861 can only be used in
macros:
DEL (p. 120), MEX (p. 149) and WAC (p. 189). Using MEX and WAC, it is
possible to set stop conditions or conditions for further macro processing.
Macro recording is possible when a joystick is active on the axis.
Example 1 (for a system with position sensor): Note how macro3 calls
macros #1 and #2 for execution.
MAC BEG macro1
MVR 1 12.5
WAC ONT? 1 = 1
MAC END
MAC BEG macro2
MVR 1 -12.5
WAC ONT? 1 = 1
MAC END
MAC BEG macro3
MAC START macro1
MAC START macro2
MAC END
During macro recording for a controller whose address is different from 1,
the address must as target ID be part of each command line to be
recorded, but will not become part of the macro content.
Example 2 (for a system with position sensor): The controller address is set
to 2 with the DIP switches. Macro addrtest is to be recorded:
2 MAC BEG addrtest
2 SVO 1 1
2 DEL 1000
2 FRF 1
2 MAC END
Now you can check the content of macro addrtest by sending
2 MAC? addrtest
The answer is
SVO 1 1
DEL 1000
FRF 1
i.e. the target ID has not become part of the macro.

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See "Target and Sender Address" (p. 110) for more information.

7.2

Starting Macro Execution
A defined macro can be run by the command MAC START
where is the name that was given to the macro to be run.
To run a macro multiple times, call it with MAC NSTART n
where n gives the number of times the macro is to be run.
Simultaneous execution of multiple macros is not possible. Only one macro
can be executed at a time.
Any commands can be sent from the command line when a macro is
running. The macro content and move commands received from the
command line may overwrite each other, and only the last move command
will be executed, irrespective of its source.
Macro execution can be stopped from the command line with #24 (p. 117),
STP (p. 182) and HLT (p. 137).
A running macro may not be deleted.
Macro execution is not allowed when a joystick is active on the axis. See
"Joystick Control" (p. 79) for details.
You can query with #8 (p. 116) if a macro is currently running on the
controller and ask for the names of currently running macros with the
RMC? command (p. 168).

7.3

Start-Up Macro
With MAC DEF it is possible to set the specified macro as
start-up macro. This macro will be automatically executed with the next
power-on or reboot of the controller.
Example (for a system with position sensor):
MAC BEG startcl
JON 1 0
SVO 1 1
DEL 1000
FNL 1
MAC END
MAC DEF startcl
In the example, axis 1 will after power-on be immediately ready for closedloop operation since the startup macro switches the servo on and performs

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a reference move to the negative limit switch.
To ask for the current start-up macro setting, send
MAC DEF?
To undo the current start-up macro selection, send
MAC DEF
i.e. omit .
Deleting a macro with MAC DEL does not delete the startup macro selection.

7.4

Preparing for Stand-Alone Preparation
If you want to operate controller and a stage without a host PC you can do
so by using macros.
Stand-alone operation is possible if you store macros as auto-start macros,
i.e. the content of the macro is performed automatically after the controller
is powered on.
For example, you can program a macro for motion within a fixed travel
range or a macro to enable a joystick or a pushbutton box directly after
booting the controller. Thus you can command motion flexible.
Before you start stand-alone operation you must make sure that the
parameter settings stored in the controller’s non-volatile memory are
appropriate for the stage connected:
For example, the controller must recognize the reference switch (i.e. 0x14
must be 1) to be capable to perform referencing in an autostart macro. This
is not possible with Default-Stage-N parameter settings in the controller’s
non-volatile memory.
See “Storing Parameter Settings to Non-Volatile Memory Using
PIMikroMove Main Window” (p. 38) or “Storing Parameters to Volatile and
Non-Volatile Memory via Commands” (p. 40), for instructions.

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An example follows of how to generate a start-up macro that:

■

Switches servo on

■

References the stage

■

Activates joystick operation

To generate the auto start macro as described proceed as follows:
1

Select the Controller macros tab of the PIMikroMove main window,
see next figure.

Insert a macro with the following commands:
SVO 1 1
DEL 500
FRF 1
WAC FRF? 1 = 1
JAX 1 1 1
JON 1 1

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Send macro to controller, see next figure.

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Select macro for autostart, see figure above.
This macro will be executed automatically every time the controller
is powered on or rebooted.

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Data Recording

Data Recording
For general information regarding the data recording you can send the
HDR? command (p. 135) which lists available record options and trigger
options and gives additional information about data recording. The E-861
has 2 data recorder tables (ask with TNR? (p. 187)) with 1024 data points
per table.
The data recorder configuration, i.e. the assignment of data sources and
record options to the recorder tables, can be changed with DRC (p. 122),
and the current configuration can be read with DRC? (p. 123). Data
recorder tables with record option 0 are deactivated, i.e. nothing is recorded
(power-on default).
Recording can be triggered in several ways. Ask with DRT? (p. 127) for the
current trigger option and use DRT (p. 126) to change it. A trigger option
set with DRT will become valid for all data recorder tables with non-zero
record option. By default data recording is triggered when a step response
measurement is made with STE (p. 181).
The record table rate can be set with the RTR command (p. 171). The
power-on default of this value is one servo cycle (ask with RTR? (p. 172)).
You can cover longer periods by increasing the record table rate.
Recording always takes place for all data recorder tables with non-zero
record options.
Recording ends when the content of the data recorder tables has reached
the maximum number of points.
The last recorded data can be read with the DRR? command (p. 124). The
data are reported in GCS array format, for details regarding the GCS array
see the separate manual (SM146E) which is provided on the E-861 CD.
Reading can take long depending on the number of points to be read! It is
possible to read the data while recording is still in progress.
When the controller is powered down, the content of the data recorder
tables and all data recorder configuration and trigger settings are lost. The
configuration and trigger settings are reset to their factory defaults on
power on.

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Customizing the System
This section contains information about:

■

Which parameters you may have to change to adjust the controller to
your individual application or to use a custom stage

■

Which parameters you may adjust regarding travel range

■

How to tune PID control parameters

■

How you can generate a user-defined stage database entry

In addition, you find the following information for adjustment of the E-861
controller for a custom sensor:

■

When to adjust servo loop input factor parameters

■

How to adjust controller for a custom sensor that uses a custom
interpolation board

■

What sensor properties are required for using the controller's
GEMAC interpolation board

■

What to provide if a custom sensor is to use the controller’s GEMAC
interpolation board

Adjustment and storing of adjusted parameter settings can be required in
the following cases:
If your application requires adjustment regarding:

■

Travel range and/or a modified home position

■

Physical units and axis unit

If you use a custom stage you have to provide for the following:

■

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The logic of your reference and limit switches must be reflected in
the controller’s parameter settings

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■

The parameters of your stage’s sensor must match the GEMAC
interpolation board’s requirements. This interpolation board is part of
the E-861 controller

■

The resolution of your stage’s sensor must be reflected by the servoloop input factor

For instructions on how to store adjusted parameter settings to volatile and
non-volatile memory read “How to Store Parameter Settings” (p. 37).
For instructions on how to generate a custom stage database entry see
"How to Create a New Stage Type in the PI Stages Database" (p. 98).
See “Adjustment for Custom Sensor” (p. 99) for what to consider for
operating the E-861 controller with a stage with custom sensor.

9.1

Parameters for Customizing
The properties of your mechanics (stage configuration, sensor, load) must
be reflected in the corresponding parameters of the E-861 firmware.
The following parameters may have to be adjusted depending on your
application:

■

Parameters which affect the travel range. These parameters are:

Parameter ID Function
0x15
Maximum travel in positive direction
0x16
Position value at reference position
0x17
Distance between reference switch and negative limit
switch
0x2F
Distance between reference switch and positive limit
switch
0x30
Maximum travel in negative direction
See "Travel Range Adjustment" (p. 92) for details.

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■

The numerator and denominator of the counts-per-physical-unit
factor (parameter IDs 0xE and 0xF) which determines the "user" unit
for motion commands and the settings of all other parameters whose
unit is based on the "user" unit

■

Parameter for Axis unit (ID 0x7000601), since it is not adjusted
automatically by the counts-per-physical-unit factor

■

Further parameters if this is necessary for your application

■

PID control parameters should be adjusted during closed-loop
operation of the system until the system performance proves
satisfactory, e.g. by measuring the step response of the system (STE

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command and DRR? command (p. 124)).
The P, I and D values depend on the applied load and motion
parameters (velocity, settling behavior).
See also "Tuning PID Control Parameters" (p. 95) for how PID
control parameters can be adjusted.
The following parameters may have to be adjusted if you use a custom
stage:

■

Parameters for the limit and reference switches and their signal logic
to make them fit to your hardware. These parameters are:
Parameter ID
0x14
0x31
0x32

Function
Stage has a reference switch
1 if yes, 0 if no
Invert the reference
1 if invert, 0 if no inversion
Stage has limit switches
0 if yes, 1 if no

■

The E-861 is equipped with a GEMAC interpolation board for
incremental measuring systems.
Check if your sensor hardware (encoder) is compatible with the
preset values of the parameters for the GEMAC interpolation board
(IDs 0x7000010 to 0x700001F).
See "GEMAC Parameters" (p. 105) for details.

■

Parameters for numerator and denominator of the servo loop input
factor (IDs 0x5A and 0x5B) are preset to 50000 counts per 1 mm.
Needs to be adjusted only if your sensor resolution differs from
50000 counts per 1 mm.
See “Servo Loop Input Factor” (p. 99) for more information of this
factor’s function.

If you want to operate the controller with a custom stage not delivered from
PI and if you use PI software, as e.g. PIMikroMove, you can use the
Default-Stage-N's stage database entry, i.e. a given set of parameter
settings.
Ensure that the parameter settings of Default Stage N correspond to your
mechanics – make adjustments if necessary.
See “Controller Parameters” (p. 35) for how to handle parameter settings
and how to store them.

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9.2

Travel Range Adjustment
The figures below give a universal hardware scheme of a positioning stage
with incremental sensor, reference and limit switches. To work with such a
stage in closed-loop operation, the corresponding controller parameters
must be adjusted properly (see "Controller Parameters" (p. 35) for how to
modify parameter values).
In the example shown in the first figure, the travel range, i.e. the distance
from negative to positive limit switch is 20 mm, the distance between the
negative limit switch and the reference switch is 8 mm, and the distance
between reference switch and positive limit switch is 12 mm (you can use
the FED command (p. 128) in combination with the POS? command
(p. 167) to identify the values). These hardware properties are represented by
the following controller parameters in the E-861 firmware:
DISTANCE_REF_TO_N_LIM (parameter ID 0x17) = 8
DISTANCE_REF_TO_P_LIM (parameter ID 0x2F) = 12
To allow for flexible localization of the home position (0), a special
parameter is provided. It gives the offset between reference switch and
home position which is to be valid for the stage after a reference move (see
below). In the example, the home position is to be located at the negative
limit switch after a reference move, and hence the offset between reference
switch and home position is 8 mm.
VALUE_AT_REF_POS (parameter ID 0x16) = 8
To allow for absolute moves, either an absolute "initial" position can be set
with the POS command (p. 166), or the stage can perform a reference
move to a known position where a defined position value will be set as the
current position (see "Referencing" (p. 51) for further details). By default, a
reference move is required. In the example, known positions for reference
moves are given by the reference switch and the limit switches. Depending
on the switch used for the reference move, a certain combination of the
above-mentioned parameters is used to calculate the position to be set at
the end of the move:

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■

Reference switch (FRF command (p. 133)): the stage is moved to
the reference switch, and the value of VALUE_AT_REF_POS is set
as the current position.

■

Negative limit switch (FNL command (p. 129)): the stage is moved to
the negative limit switch and the difference of VALUE_AT_REF_POS
and DISTANCE_REF_TO_N_LIM is set as the current position (can
be negative).

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■

Positive limit switch (FPL command (p. 131)): the stage is moved to
the positive limit switch and the sum of VALUE_AT_REF_POS and
DISTANCE_REF_TO_P_LIM is set as the current position.

It is furthermore possible to set "soft limits" which establish a "safety
distance" which the stage will not enter on both ends of the travel range. In
the E-861 firmware, those soft limits always refer to the current home
position (0; in the example located at the negative limit switch after a
reference move). The soft limits are to be deactivated in the example so
that the corresponding parameters must be as follows:
MAX_TRAVEL_RANGE_POS (parameter ID 0x15) = 20 mm
MAX_TRAVEL_RANGE_NEG (parameter ID 0x30) = 0 mm
(This means that the stage can move 20 mm in positive direction, starting
from the home position, and 0 mm in negative direction, starting from the
home position.)

Figure 18: Positioning stage and corresponding controller parameters

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Now in the same example, a "safety distance" is to be established on both
ends of the travel range by setting soft limits, and the home position is to be
located at about 1/3 of the distance between the new negative end of the
travel range and the reference switch. The limit switches cannot be used for
reference moves anymore.

Figure 19: Positioning stage, soft limits set in the controller to reduce the travel
range

After the stage was referenced again by moving it to the reference switch
(FRF command), the following responses will be given:
TMN? (p. 186) returns -2.1
TMX? (p. 187) returns 16.4
POS? (p. 167) returns 5.4

CAUTION
If
the
soft
limits
(MAX_TRAVEL_RANGE_POS
and
MAX_TRAVEL_RANGE_NEG) are used to reduce the travel range,
the limit switches cannot be used for reference moves. The FNL and
FPL commands will provoke an error message, and only the reference
switch can be used for a reference move (FRF).
Be careful when setting the values for VALUE_AT_REF_POS,
MAX_TRAVEL_RANGE_POS and MAX_TRAVEL_RANGE_NEG
because there is no plausibility check.

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The soft limits may not be outside of the physical travel range:
MAX_TRAVEL_RANGE_POS ≤ DISTANCE_REF_TO_P_LIM +
VALUE_AT_REF_POS
MAX_TRAVEL_RANGE_NEG ≥ VALUE_AT_REF_POS DISTANCE_REF_TO_N_LIM
Otherwise, reference moves to the limit switches would have incorrect
results because the values of the soft limits would be set at the end of
the referencing procedure.
Be careful when referencing the stage by setting an initial absolute
position with POS since the values for MAX_TRAVEL_RANGE_POS
and MAX_TRAVEL_RANGE_NEG are not adapted. In the worst case,
the soft limits will now be outside of the physical travel range, and the
stage will no longer be able to move since the closed-loop move
commands check the soft limit settings.

9.3

Tuning PID Control Parameters
If PID tuning is required it is recommended to use the controller's data
recorder and PIMikroMove.
PIMikroMove main window must be open.
To adjust PID control parameters proceed as follows:

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Open the expanded single axis window by following the View →
Single Axis Window menu sequence for the connected stage.

Click on the + at the right side of the single axis window, see figure
below.

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In the list at the right side of the expanded single axis window you
can check the current settings and you may insert new settings.
If a parameter you wish to adjust does not occur in the list click on
Select parameters to display the parameter in the list.
Note that a new parameter setting is only sent to the controller
after is pressed while the cursor is in the text entry.

To display a step response open the controller's data recorder.
To do so follow the E-861 → Show/Hide data recorder menu
sequence, see figure below.

The Data Recorder window opens as shown in the next figure:

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Configure the data recorder.
For detailed information read the following sections in the SM148E
PIMikroMove Manual:
"Data Recorder"
"Configure Data Recorder"
"Perform Step or Impulse Measurements"
Make sure that data recorder settings are adjusted such as, for
example, step size to be recorded, record rate and number of data
points on the Data Recorder screen.

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Press the step response button (positive slope) to start and record
a step response.
See figure below for an example:

If the step response does not prove satisfactory, adjust the PID
settings in the expanded Single axis window.

Press enter for each adjusted parameter setting in the expanded
Single axis window separately.

Start and record another step response on the Data Recorder
screen.
If the result is not satisfactory repeat steps 7 to 9 with different PID
settings.

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10 If you wish to read the position data of a step response in
PIMikroMove’s Command entry window send a DRR? command to
read the data from the controller’s data recorder.

9.4

How to Create a New Stage Type in the PI
Stages Database
The easiest way to add a new stage type to the UserStages2 database is to
modify the parameters of an existing stage type and save them under a
new name. Thereafter you can select this newly defined stage in
PIMikroMove or in other PI software as well.
Proceed as follows:

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Assign the stage type that comes closest to your stage to the
appropriate axis. See Select connected stages step, i.e. step 9, of
the "Getting Started" (p. 12) section for how to do this.
Afterwards the Start Up Axes dialog may open—you can close this
dialog because at this point it is not necessary to reference the
axis.

On the Axes tab card, display the columns for the parameters you
want to modify.
Press the Select columns to be displayed icon in the right top
corner of the PIMikroMove main window, see next figure.

Change the values of the parameters you want to modify by typing
them into the appropriate fields of the Axes tab card. Note that only
fields with white backgrounds can be edited.

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Save the modified settings as a new stage using the Add/Edit User
Stage type... item from the corresponding controller menu. You
simply have to define a new name for your stage and click OK.

The new stage is now displayed on the Axes tab card, and you can
work with it (e.g. reference the stage: right-click on the axis row
and select the Start up axes... item in the controller menu of the
corresponding controller.
If you want to further modify the stage parameters, use the
Add/Edit User Stage Type menu item again to save the changes.

9.5

Adjustment for Custom Sensor
E-861 controllers feature sensor boards with interpolation circuitry, that are
adjusted to encoders of PI’s NEXACT® drives.
If you use a custom stage with a custom sensor it is recommended to use
also custom interpolation hardware suitable for that sensor.
See “Adjustment for Custom Sensor Using Custom Interpolation Board”
(p. 100) for how to proceed for adjusting the controller hardware.
It is also possible to adjust the controller to a custom sensor using the
GEMAC interpolation board.
See “GEMAC Parameters” (p. 105) for details about the GEMAC
parameters.
See "Adjustment for Custom Sensor Using GEMAC Interpolation Board"
(p. 106) for what you need to provide and what requirements must be
fulfilled.
Details and instructions for the adjustment procedure are given in the
E861T0008 Technical Note. Call your PI representative or write to
info@pi.ws to ask for this Technical Note if required.
Irrespective of whether you use a sensor with its own interpolation circuitry
or a sensor using the GEMAC interpolation board you have to make sure
that the servo loop input factor matches the custom sensor’s resolution.
See “Servo Loop Input Factor” below to find out if you have to adjust the
corresponding parameters.

9.5.1

Servo Loop Input Factor

Parameters 0x5A and 0x5B represent numerator and denominator of the
servo loop input factor. This factor decouples servo loop parameters from
the encoder resolution.
This factor has to be adjusted only if a custom sensor with a resolution
other than 50000 counts per 1 mm is to be used.

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0x5A and 0x5B have to be set carefully to guarantee a stable control loop.
See “How to Store Parameter Settings” (p. 37) for further details.
Note that the servo loop input factor formed by 0x5A and 0x5B is
independent from 0xE and 0xF, i.e. the counts-per-physical-unit factor. The
counts-per-physical-unit factor has no influence on control loop stability, but
is used for input and output scaling of position values.

9.5.2

Adjustment for Custom Sensor Using Custom
Interpolation Board

If you wish to use a drive with a custom specific sensor that features its
own interpolation circuitry, you have to remove the GEMAC interpolation
board and adjust the controller to process digital sensor, i.e. encoder,
inputs.
To adjust the controller for a sensor with its own interpolation circuitry you
have to provide the following items:

■

A Phillips head screwdriver to remove/fix top plate from/to controller

■

Sensor with interpolation circuitry that provides a sensor reference
signal with TTL level and a minimum pulse length of more than 50 µs

■

Documentation of the sensor manufacturer for sensor calibration

In addition, you have to make sure that the servo loop input factor matches
the custom sensor’s resolution.
See “Servo Loop Input Factor” (p. 99) for details about this factor.
See “How to Store Parameter Settings” (p. 37) for details on how to store
parameter settings to volatile and non-volatile memory of the controller.

CAUTION
The boards inside the E-861 are ESD-sensitive (electrostatic discharge
sensitive) devices. Observe all precautions against static charge

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buildup before handling these devices. Avoid touching circuit
components, pins and PCB traces. Discharge any static electricity you
may have on your body by briefly touching a conductive, grounded
object before you touch any electronic assembly.
Make sure that no conductive particles of any kind (metallic dust or
shavings, broken pencil leads, loose screws) contact the device
circuitry.
To adjust the E-861 controller for sensor signals from a custom sensor
which uses its own interpolation board proceed as follows:

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Disconnect the E-861 from the power supply to power it down.

Unscrew the 2x2 cross-head screws at the front and the rear of the
controller.

Unscrew the 2 cross-head screws at the left side of the controller.

Remove top plate from the controller. Now you have access to the
GEMAC interpolation board, see next figure.

Remove interpolation board. Below the interpolation board a DIP
switch is located.

To use digital encoder input set all DIP switches to ON, see next
figure.
Now the pinout of column “Without interpolation board” in the
sensor pinout table below is valid.

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Attach top plate to controller by tightening the 2x2 cross-head
screws to controller rear and front plates.

Connect sensor to sub-D sensor connector at rear of controller.

Reconnect the power supply to the E-861 to power it on.

10 Give an appropriate sensor reference signal to pin 1 of the sensor
connector at the controller rear.
The reference signal is appropriate if it features:
TTL level
a minimum pulse length of more than 50 µs, since 50 µs is
the controller servo loop time
11 Perform a sensor calibration as described in the sensor
manufacturer’s documentation.
Note that the reference pulse of the ruler, i.e. input signals to pin 3
and pin 8, cannot be used.
12 Check for proper function of the servo loop with the new sensor. To
do so proceed as follows:
a) Open a connection using PIMikroMove, see steps 1 to 10 of
“Getting Started” (p. 12) for instructions.
b) To send the commands as given below follow the Tools →
Command entry menu sequence in the PIMikroMove main window,
see figure below. Now you can send commands via the Command
entry window.

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c) Activate servo by sending SVO 1 1
d) Send MOV 1 10
e) Send POS?
f) Compare response with commanded target position. If both
values are consistent proceed with step 13. If they are not, repeat
step 11.
13 If you are sure that the motion system works properly, shut down
controller.

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Pinout of Sensor Connector (15-pin sub-D connector)
Pin

With interpolation
board

Without interpolation
board

REF

VDD (5 V output)

REFP
cannot be used
(Positive reference trace
from ruler)

COSP

B+

SINP

A+

PLIMIT

NLIMIT

Ref
(negative reference
trace from ruler)

cannot be used

COSN

B-

SINN

A-

internal use

VDD (5 V output)

GND

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9.5.3

GEMAC Parameters

The E-861 is equipped with a GEMAC interpolation board for incremental
measuring systems.
The GEMAC parameters are set in the volatile or non-volatile memory of
the controller, see "How to Store Parameter Settings" (p. 37) for
instructions.Note that the parameters for the GEMAC board (IDs
0x7000010 to 0x700001) are not part of a parameter set, i.e. stage
database entry located on the host PC.
The parameters for the GEMAC board are preset for the following encoder
hardware properties:

■

Differential analog transmission of the sensor signals.
Note that the controller cannot process single-ended signals, even
though the GEMAC board would allow it

■

Sine and cosine signals have to be phase shifted by 90° relative to
one another (obligatory)

■

Sensor signal amplitude, i.e. of ± sin and ± cos: 1.0 Vpp (obligatory)

■

Offset for sensor signal, i.e. ± sin and ± cos: 2.5 V (obligatory)

It is strongly recommended to use these parameter values, i.e. your sensor
hardware properties must match the above-mentioned values, otherwise
the GEMAC interpolation board may not work properly.
See the manual for the GEMAC interpolation board (IP1000_B_EN.pdf;
provided on the E-861 CD) for information about interpolation details.
If you are sure that you wish to adjust GEMAC parameters proceed as
follows:
1

Set the GEMAC parameters in volatile memory using SPA.
See "Parameter List" (p. 41) for assignment of E-861 parameters
to the write registers of the GEMAC circuitry.
The following example shows how to configure the GEMAC CFGO
write register (e.g. interval time, interpolation rate) for axis 1:
Send SPA 1 0x7000010 252
See p. 16 of IP1000_EN.pdf for bit mapping of CFG0 write register.
The setting is made in volatile memory only.

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Test the functioning of the system.

If everything is okay and you want to use this system configuration
after the next power-on, save the settings for the GEMAC

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parameters from volatile to non-volatile memory.
For example:
Send WPA 4711
The password "4711" affects only the GEMAC parameters (for all
other parameters, the passwort "100" is required). Since WPA is
used without specifying any parameters, all currently valid GEMAC
parameter values from volatile memory are saved, except for the
write-protected parameters (see Note below).

NOTE
The GEMAC parameters cannot be changed with SEP. Use SPA and
WPA to save their values to non-volatile memory.
The GEMAC parameters with the IDs 0x7000015, 0x7000016,
0x700001C, 0x700001D, 0x7000001E and 0x700001F are writeprotected and cannot be changed.
The E-861 will send no error message if you try to change those
parameters.

9.5.4

Custom Sensor Using GEMAC Interpolation Board

If a custom sensor is to use the GEMAC interpolation board you have to
provide the following items:

■

Sensor delivering signals that match the requirements of the GEMAC
interpolation board
See “GEMAC Parameters” (p. 105) for required sensor properties.

■

Documentation of the sensor manufacturer for sensor calibration

■

IP1000_B_EN.pdf, i.e. documentation of GEMAC interpolation board

In addition, the following condition has to be met:
■ The servo loop input factor matches the custom sensor’s resolution.
See “Servo Loop Input Factor” (p. 99) for details about this factor.
See “How to Store Parameter Settings” (p. 37) for instructions.
Details and preparation instructions for custom sensor calibration using the
controller's interpolation board are given in the E861T0008 Technical Note.
Call your PI representative or write to info@pi.ws to ask for this Technical
Note if required.

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10 GCS Commands
The PI General Command Set (GCS) is supported by a wide range of PI
systems. This command set is well-suited for positioning tasks with one or
more axes. The command set itself is independent of the specific hardware
(controller or attached stages).
Commands are used to set operating modes, initiate axis motion and to
query system and motion values. Because of the variety of functions and
parameters, a sequence of commands must often be transferred in order to
achieve a desired system action.
You can type commands, for example, in the Command Terminal or
Command Entry windows, respectively, of NanoCapture and PIMikroMove,
or in the PITerminal.

10.1 Format
10.1.1 Notation

The following notation is used to define the GCS syntax and to describe the
commands:
<...>

Angle brackets indicate an argument of a command, can be
an item identifier (p. 53) or a command-specific parameter

[…]

Square brackets indicate an optional entry

{…}

Braces indicate a repetition of entries, i.e. that it is possible
to access more than one item (e.g. several axes) in one
command line.

LineFeed (ASCII char #10), is the default termination
character
Space (ASCII char #32)

10.1.2 GCS Syntax

Except as listed below, a GCS command consists of 3 characters, e.g.
CMD. The corresponding query command has a "?" appended, e.g. CMD?.
Command mnemonic:
CMD ::= character1 character2 character3 [?]

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Exceptions:

■

Special commands, e.g. fast polling commands, consist only of one
character. The 24th ASCII character e.g. is called #24. Note that
these commands are not followed by a termination character (but the
responses to them are).

■

*IDN? (for GPIB compatibility).

The command mnemonic is not case-sensitive.
General:
CMD[{{SP}}]LF
That means the command mnemonic and all arguments (e.g. axis IDs,
channel IDs, parameters, etc.) must be separated from each other by one
space.
Example:
Send: MOVSP1SP10.0LF
to move Axis 1 to position 10.0 (the unit depends on the controller, can be
µm or mm, for example)
More than one command mnemonic per line is not allowed. Several groups
of arguments following a command mnemonic are allowed, e.g.
MOVSP1SP17.3SP2SP2.05LF
if there were 2 axes. The command line ends with the termination
character (LF).
If part of a command line cannot be executed, the line is not executed at all.
When all arguments are optional and are omitted, the command is
executed for all possible argument values. For example,
RPALF
resets all parameters in volatile memory.
The argument is used for the logical axes of the controller.
Depending on the controller, an axis could be identified with up to 16
characters—all alphanumeric characters and the underscore are allowed.
See "Accessible Items and Their Identifiers" (p. 53) for the identifiers
supported by the E-861.
Definitions for query commands (report commands):
CMD?[{{SP}}]LF
When all arguments are optional and are omitted, all possible values are
reported. For example,
POS?

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queries the position of all axes.
Reply syntax:
[[{SP}]"="]LF
Multi-line reply syntax:
{[[{SP}]"="]SP LF}
[[{SP}]"="]LF
for the last line!
The command
CMD?SPSP SP LF
replies in the same order:
"="SP LF
"="SP LF
"=" LF
Example:
Send:
Report:

TSP?SP2SP1
2=-1158.4405SP LF
1=+0000.0000LF

NOTE
With the E-861, you can address only one single item (e.g. axis or
channel) per command line, or, if the command supports this, address
all items by omitting the item identifier.
Example:
You can send
SEP 100 1 0x32 0
to save a new value of parameter 0x32 for axis 1 to non-volatile
memory
but it is not possible to send
SEP 100 1 0x32 0 1 0x14 1

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10.1.3 Target and Sender Address

In principle, the addresses of the target controller and the sender are
required in every command line, even with single-character commands like
#4 or when recording a macro. But because only the host PC may send
command lines to the E-861s, its address (0) can be omitted. Both target
and sender address, however, are part of any controller response.
Example:
In a terminal, e.g. PITerminal, you can ask with the *IDN? command for the
identification string of the E-861 with address 2 either by sending
2 0 *idn?
or by sending
2 *idn?
The response in either case is
0 2 (c)2010 Physik Instrumente(PI) Karlsruhe,E-861 Version 7.2.0

Exception:
The target address can be omitted if the target E-861 has the address 1,
even if this E-861 is part of a daisy chain. If the target address is omitted,
the target and sender addresses will also be omitted in any response of the
controller.
Example:
If you send
*idn?
the controller with the address 1 will respond with
(c)2010 Physik Instrumente(PI) Karlsruhe,E-861 Version 7.2.0
If you send
1 *idn?
it will respond with
0 1 (c)2010 Physik Instrumente(PI) Karlsruhe,E-861 Version 7.2.0
See "DIP Switch Settings" for how to set the controller address. Possible
controller addresses are in the range of 1 to 16, address 1 is default. The
host PC always has the address 0. With the broadcast address 255, all
controllers in a daisy chain can be addressed at the same time, but no
reports are displayed on the host PC.

NOTES
In a daisy-chain, connected via USB or via RS-232, there must be one
controller with address 1. It is not required that this controller is directly
connected to the host PC, i.e. this controller does not have to be the
first controller of the daisy-chain.
If there is no controller in a daisy-chain with address 1 an error
message occurs when you try to setup a connection.

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10.2 Command Survey

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#4 (p. 114)

Request Status Register

#5 (p. 115)

Request Motion Status

#7 (p. 116)

Request Controller Ready Status

#8 (p. 116)

Query If Macro Is Running

#24 (p. 117)

Stop All Motion

*IDN? (p. 117)

Get Device Identification

ACC (p. 118)

Set Acceleration

ACC? (p. 118)

Get Acceleration

CST? (p. 119)

Get Stage Type Of Selected Axis

CSV? (p. 119)

Get Current Syntax Version

DEC (p. 119)

Set Deceleration

DEC? (p. 120)

Get Deceleration

DEL (p. 120)

Delay The Command Interpreter

DIO (p. 121)

Set Digital Output Lines

DIO? (p. 121)

Get Digital Input Lines

DRC (p. 122)

Set Data Recorder Configuration

DRC? (p. 123)

Get Data Recorder Configuration

DRR? (p. 124)

Get Recorded Data Values

DRT (p. 126)

Set Data Recorder Trigger Source

DRT? (p. 127)

Get Data Recorder Trigger Source

ERR? (p. 127)

Get Error Number

FED (p. 128)

Find Edge

FNL (p. 129)

Fast Move To Negative Limit

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FPL (p. 131)

Fast Move To Positive Limit

FRF (p. 133)

Fast Move To Reference Switch

FRF? (p. 134)

Get Referencing Result

GOH (p. 135)

Go To Home Position

HDR? (p. 135)

Get All Data Recorder Options

HLP? (p. 136)

Get List of Available Commands

HLT (p. 137)

Halt Motion Smoothly

HPA? (p. 138)

Get List of Available Parameters

JAS? (p. 138)

Query Joystick Axis Status

JAX (p. 139)

Set Axis Controlled By Joystick

JAX? (p. 140)

Get Axis Controlled By Joystick

JBS? (p. 140)

Query Joystick Button Status

JDT (p. 141)

Set Joystick Default Lookup Table

JLT (p. 142)

Fill Joystick Lookup Table

JLT? (p. 143)

Get Joystick Lookup Table Values

JON (p. 145)

Set Joystick Activation Status

JON? (p. 145)

Get Joystick Activation Status

LIM? (p. 146)

Indicate Limit Switches

MAC (p. 146)

Call Macro Function

MAC? (p. 149)

List Macros

MEX (p. 149)

Stop Macro Execution Due To Condition

MOV (p. 151)

Set Target Position

MOV? (p. 152)

Get Target Position

MVR (p. 153)

Set Target Relative To Current Position

OAC (p. 154)

Set Open-Loop Acceleration

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OAC? (p. 155)

Get Open-Loop Acceleration

OAD (p. 155)

Open-Loop Analog Driving

OAD? (p. 157)

Get Voltage For Open-Loop Analog Motion

ODC (p. 157)

Set Open-Loop Deceleration

ODC? (p. 158)

Get Open-Loop Deceleration

OMA (p. 158)

Absolute Open-Loop Motion

OMA? (p. 160)

Get Open-Loop Target Position

OMR (p. 161)

Relative Open-Loop Motion

ONT? (p. 163)

Get On Target State

OSM (p. 163)

Open-Loop Step Moving

OVL (p. 165)

Set Open-Loop Velocity

OVL? (p. 166)

Get Open-Loop Velocity

POS (p. 166)

Set Real Position

POS? (p. 167)

Get Real Position

RBT (p. 167)

Reboot System

RMC? (p. 168)

List Running Macros

RNP (p. 168)

Relax PiezoWalk Piezos

RON (p. 170)

Set Reference Mode

RON? (p. 170)

Get Reference Mode

RPA (p. 171)

Reset Volatile Memory Parameters

RTR (p. 171)

Set Record Table Rate

RTR? (p. 172)

Get Record Table Rate

SAI? (p. 172)

Get List Of Current Axis Identifiers

SEP (p. 173)

Set Nonvolatile Memory Parameters

SEP? (p. 174)

Get Nonvolatile Memory Parameters

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SPA (p. 175)

Set Volatile Memory Parameters

SPA? (p. 178)

Get Volatile Memory Parameters

SRG? (p. 178)

Query Status Register Value

SSA (p. 180)

Set Step Amplitude

SSA? (p. 180)

Get Step Amplitude

STE (p. 181)

Start Step And Response - Measurement

STP (p. 182)

Stop All Motion

SVO (p. 183)

Set Servo State (Open-Loop / Closed-Loop
Operation)

SVO? (p. 185)

Get Servo State (Open-Loop / Closed-Loop Operation)

TAC? (p. 185)

Tell Analog Channels

TAV? (p. 185)

Get Analog Input Voltage

TIO? (p. 186)

Tell Digital I/O Lines

TMN? (p. 186)

Get Minimum Commandable Position

TMX? (p. 187)

Get Maximum Commandable Position

TNR? (p. 187)

Get Number Of Record Tables

TRS? (p. 188)

Indicate Reference Switch

VEL (p. 188)

Set Closed-Loop Velocity

VEL? (p. 189)

Get Closed-Loop Velocity

WAC (p. 189)

Wait For Condition For Macro Execution

WPA (p. 190)

Save Parameters To Nonvolatile Memory

10.3 Command Reference (alphabetical)
#4 (Request Status Register)
Description: Requests system status information.

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Format:

Arguments:

none

(single ASCII character number 4)

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Response:
Notes:

The answer is bit-mapped. See below for the individual
codes.
This command is identical in function to SRG? (p. 178), but only
one character must be send via the interface. Therefore #4 can
also be used while the controller is performing time-consuming
tasks.
Note that this command might deliver no response as long as the
controller performs a motion with the PiezoWalk Driving mode
parameter 0x7001A00 set to 1, i.e. if automatic alternating of
motion modes is activated and being performed.
For the E-861, the response is the sum of the following codes, in
hexadecimal format:
Bit
15
14
13
Descrip- On
Is
Is
tion
Target referen- moving
cing

Bit
7
Descrip- Digital
tion
Input 4

Example:

6
Digital
Input 3

12
Servo
On

5
Digital
Input 2

11
10 9
8
Transitions between motion and
servo modes:
Analog = 0
Relaxing = 1
Go to analog = 2
Relaxed = 3
In motion = 4
Go to motion = 5
See "Modes of Operation"
(p. 54) for details.

4
Digital
Input 1

3
-

2
1
Positive RefeLimit
rence

0
Negative
Limit

Send:
#4
Receive:
0x9405
Note:
The response is given in hexadecimal format. It
means that the axis is on target, the servo is on, the axis is ready
for closed-loop motion (In motion state), the states of the digital
input lines 1 to 4 are low, and the stage is on the positive side of
the reference switch (limits are not active, note that the logic of the
signals is inverted in this example)

#5 (Request Motion Status)
Description:
Requests motion status of the axes.

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Format:

(single ASCII character number 5)

Arguments:

none

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Response:

Examples:

The answer is bit-mapped and returned as the
hexadecimal sum of the following codes:
1=first axis is moving
2=second axis is moving
4=third axis is moving
...
0 indicates motion of all axes complete
3 indicates that the first and the second axis are
moving

#7 (Request Controller Ready Status)
Description:
Asks controller for ready status (tests if controller is
ready to perform a new command).

Format:

Note: Use #5 (p. 115) instead of #7 to verify if motion
has finished.
#7 (single ASCII character number 7)

Arguments:

none

Response:

B1h (ASCII character 177 = "±" in Windows) if
controller is ready
B0h (ASCII character 176 = "°" in Windows) if
controller is not ready
(e.g. performing a referencing command)

Troubleshooting: The response characters may appear differently in
non-Western character sets or other operating
systems. They may be indistinguishable on the
controller screen.

#8 (Query If Macro Is Running)
Description:
Tests if a macro is running on the controller.

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Format:

#8 (single ASCII character number 8)

Arguments:

none

Response:

=0 no macro is running
=1 a macro is currently running

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#24 (Stop All Axes)
Description:
Stops all axes abruptly. For details see the notes
below.
Sets error code to 10.
This command is identical in function to STP (p. 182),
but only one character must be send via the interface.
Therefore #24 can also be used while the controller is
performing time-consuming tasks.
Format:

#24 (ASCII character 24)

Arguments:

none

Response:

none

Notes:

#24 stops all motion caused by move commands
(MOV (p. 151), MVR (p. 153), OAD (p. 155), OSM
(p. 163), OMA (p. 158), OMR (p. 161), STE (p. 181)),
referencing commands (FNL (p. 129), FPL (p. 131),
FRF (p. 133)) and macros (MAC (p. 146)).
After the axes are stopped, if servo is on, their target
positions are set to their current positions.
HLT (p. 137) in contrast to STP stops motion with
given system deceleration with regard to system
inertia.

*IDN? (Get Device Identification)
Description:
Reports the device identity number.
Format:

*IDN?

Arguments:

none

Response:

One-line string terminated by line feed with controller
name, serial number and firmware version

Notes:

For E-861, *IDN? replies something like:
(c)2010 Physik Instrumente(PI) Karlsruhe,E-861
Version 7.2.0

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ACC (Set Closed-Loop Acceleration)
Description:
Set acceleration of given axes.
The ACC setting only takes effect when the given axis
is in closed-loop operation (servo on).
ACC can be changed while the axis is moving.
Format:

ACC { }

Arguments:

is one axis of the controller
is the acceleration value in physical
units/s2.

Response:

none

Troubleshooting: Illegal axis identifiers
Notes:

The lowest possible value for is 0.
ACC changes the value of the Current closed-loop
acceleration parameter (ID 0xB) in volatile memory
(can be saved as power-on default with WPA (p. 190),
can also be changed with SPA (p. 175) and SEP
(p. 173)).
The maximum value which can be set with the ACC
command is given by the Maximum closed-loop
acceleration parameter, ID 0x4A (can be changed
with SPA (p. 175) and SEP (p. 173)).

ACC? (Get Closed-Loop Acceleration)
Description:
Get the current value of the closed-loop acceleration.
If all arguments are omitted, gets current value of all
axes.
Format:

ACC? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the current active closed-loop acceleration
value in physical units / s2.

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CST? (Get Assignment of Stages to Axes)
Description:
Returns the name of the connected stage for the
queried axis.
Format:
CST? [{}]
Arguments:

is one axis of the controller

Response:

{"=" LF}
where

Notes:

is the name of the stage assigned to the axis.
The stage name is read from the Stage Name
parameter (ID 0x3C) whose factory default value is
"DEFAULT_STAGE-N". You can set the parameter
value to the name of your stage using SPA (p. 175) or
SEP (p. 173). See also "Controller Parameters"
(p. 35).

CSV? (Get Current Syntax Version)
Description:
Get current GCS syntax version used in the firmware.
Format:

CSV?

Arguments:

none

Response:

The current GCS syntax version, can be 1.0 (for GCS
1.0) or 2.0 (for GCS 2.0)

DEC (Set Closed-Loop Deceleration)
Description:
Set deceleration of given axes.
The DEC setting only takes effect when the given
axis is in closed-loop operation (servo on).
DEC can be changed while the axis is moving.
Format:

DEC { }

Arguments:

is one axis of the controller
is the deceleration value in physical
units/s2.

Response:

none

Troubleshooting: Illegal axis identifiers

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Notes:

The lowest possible value for is 0.
DEC changes the value of the Current closed-loop
deceleration parameter (ID 0xC) in volatile memory
(can be saved as power-on default with WPA
(p. 190), can also be changed with SPA (p. 175) and
SEP
(p. 173)).
The maximum value which can be set with the DEC
command is given by the Maximum closed-loop
deceleration parameter, ID 0x4B (can be changed
with SPA (p. 175) and SEP (p. 173)).

DEC? (Get Closed-Loop Deceleration)
Description:
Get the current value of the closed-loop deceleration.
If all arguments are omitted, gets current value of all
axes.
Format:

DEC? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the current active closed-loop deceleration
value in physical units / s2.

DEL (Delay The Command Interpreter)
Description:
Delays milliseconds.

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Format:

DEL

Arguments:

is the delay value in milliseconds.

Response:

none

Notes:

See the MAC command (p. 146) and "Working with
Controller Macros" (p. 82) for more information.

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DIO (Set Digital Output Line)
Description:
Switches the specified digital output line(s) to
specified state(s).
Use TIO? (p. 186) to get the number of installed digital
I/O lines.
Format:

DIO { }

Arguments:

is one digital output line of the controller, see
below for details
is the state of the digital output line, see
below for details

Response:

none

Notes:

Using the DIO command, you can activate/deactivate
the Output 1 to Output 4 lines which are located on
the "I/O" socket (p. 218). With the E-861, you can
either set a single line per DIO command, or all lines
at once.
The identifiers to use for the lines are 1 to 4.
With the identifier 0, all lines are set according to a bit
pattern given by .
If =1 the line is set to HIGH/ON, if
=0 it is set to LOW/OFF. If = 0, a
bit pattern can be set in decimal or hexadecimal
format which gives the states for all lines.
Do not use DIO on output lines for which the trigger
output is activated with TRO.

DIO? (Get Digital Input Lines)
Description:
Lists the states of the specified digital input lines. Can
be used to query externally generated signals.

Format:
Arguments:

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Use TIO? (p. 186) to get the number of installed digital
I/O lines.
DIO? [{}]
is the identifier of the digital input line, see
below for details

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Response:

{"=" LF}
where

Notes:

gives the state of the digital input line, see
below for details
Using the DIO? command, you can directly read the
Input 1 to Input 4 lines which are located on the "I/O"
socket (p. 218). With the E-861, you can either read a
single line per DIO? command, or all lines at once.
The identifiers to use for the lines are 1 to 4.
If the identifier is omitted or 0, all lines are queried.
If =0, the digital input is LOW/OFF, if
=1, the digital input is HIGH/ON. If
is 0, is a bit pattern which gives
the states of all lines in hexadecimal format.

DRC (Set Data Recorder Configuration)
Description:
Set data recorder configuration: determines the data
source and the kind of data (RecordOption) used for
the given data recorder table.
Format:

DRC

Arguments:

: is one data recorder table of the
controller, see below
: is the data source, for example an axis,
output signal channel or input signal channel of the
controller. The required source depends on the
selected record option.
: is the kind of data to be recorded
(record option).
See below for a list of the available record options and
the corresponding data sources.

Response:

www.pi.ws

none

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Notes:

The E-861 has two data recorder tables with 1024
points per table.
With HDR? (p. 135) you will obtain a list of available
record and trigger options and additional information
about data recording. The number of available data
recorder tables can be read with TNR? (p. 187).
For detailed information see "Data Recording" (p. 88).

Available record 0=Nothing is recorded
options with the
appropriate data 1=Target Position of axis (i.e. target position in
sources:
closed-loop operation)
2=Current Position of axis
3=Position Error of axis
70=Commanded Velocity of axis (open-loop or
closed-loop velocity, depending on the current servo
state)
71=Commanded Acceleration of axis (open-loop or
closed-loop acceleration, depending on the current
servo state)
73=Motor Output of axis
80=Signal Status Register of axis
81=Analog Input of input channel
Note: The input channels can be the Input 1 to 4 lines
of the I/O socket (p. 218) (use source ID 1 to 4) and
the joystick axis (source ID 5) and joystick button
inputs (source ID 6) on the Joystick socket (p. 220).
The source ID 7 is reserved for an additional analog
input channel.
DRC? (get Data Recorder Configuration)
Description:
Returns settings made with DRC (p. 122).

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Format:

DRC? [{}]

Arguments:

: is one data recorder table of the
controller; if omitted settings for all tables are given.

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Response:

The current DRC settings:
{"=" LF}
where
: is the data source, for example an axis or
an output signal channel of the controller. The source
type depends on the record option.
: is the kind of data to be recorded
See DRC for a list of the available record options and
the corresponding data sources.

DRR? (Get Recorded Data Values)
Description:
Reading of the last recorded Data Set.
Reading can take some time depending on the
number of points to be read!
It is possible to read the data while recording is still in
progress.
Format:

DRR? [
[{}]]

Arguments:

: is the first point to be read from the data
recorder table, starts with index 1
: is the number of points to be read
per table
: is one data recorder table of the
controller

Response:

The recorded data in GCS array format, see the
separate manual for GCS array, SM 146E, and the
example below

Notes:

If is omitted, the data from all
tables with non-zero record option (see DRC (p. 122))
is read.
With HDR? (p. 135) you will obtain a list of available
record options and trigger options and additional
information about data recording.
For detailed information see "Data Recording" (p. 88).

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Example:

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drr? 1 20
# REM E-861
#
# VERSION = 1
# TYPE = 1
# SEPARATOR = 32
# DIM = 2
# SAMPLE_TIME = 0.000020
# NDATA = 20
#
# NAME0 = Actual Position of Axis AXIS:1
# NAME1 = Position Error of Axis AXIS:1
#
# END_HEADER
5.00000 0.00000
4.99998 0.00002
5.00000 0.00000
5.00000 0.00000
5.00000 0.00000
5.00000 0.00000
5.00000 0.00000
4.99998 0.00002
5.00000 0.00000
4.99998 0.00002
5.00000 0.00000
5.00000 0.00000
5.00000 0.00000
5.00000 0.00000
4.99998 0.00002
5.00000 0.00000
4.99998 0.00002
4.99998 0.00002
5.00000 0.00002
4.99998 0.00004

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DRT (Set Data Recorder Trigger Source)
Description:
Defines a trigger source for the given data recorder
table.
Format:

DRT

Arguments:

is one data recorder table of the
controller. See below for details.
ID of the trigger source, see below
for a list of available options
depends on the trigger source, can be a
dummy, see below

Response:

none

Notes:

By default data recording is triggered when a step
response measurement is made with STE (p. 181).
A trigger option set with DRT will become valid for all
data recorder tables with non-zero record option (see
DRC (p. 122)).
With HDR? (p. 135) you will obtain a list of available
record options and trigger options and additional
information about data recording.
For detailed information see "Data Recording" (p. 88).

Available trigger
options:

0 = default setting; data recording is triggered with
STE; must be a dummy
1 = any command changing position (e.g. MVR
(p. 153), MOV (p. 151), OAD (p. 155), OSM (p. 163));
must be a dummy
2 = next command, resets trigger after execution;
must be a dummy
3 = reserved
4 = reserved
5 = reserved
6 = any command changing position (e.g. MVR, MOV,
OAD, OSM), resets trigger after execution;
must be a dummy

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DRT? (Get Data Recorder Trigger Source)
Description:
Returns the trigger source for the data recorder tables.
Format:

DRT? [{}]

Arguments:

is one data recorder table of the
controller
{"=" LF}

Response:

where
is the ID of the trigger source, see
DRT (p. 126) for details

Notes:

depends on the trigger source, if 0 it is a
dummy, see DRT for details
Since all data recorder tables of the E-861 have the
same trigger source, the DRT? response is given as a
single line of the form
0=

ERR? (Get Error Number)
Description:
Get error code of the last occurred error and
reset the error to 0.
Only the last error is buffered. Therefore you should
call ERR? after each command.
The error codes and their descriptions are fully listed
in "Error Codes" (p. 192).

www.pi.ws

Format:

ERR?

Arguments:

none

Response:

The error code of the last occurred error (int).

Troubleshooting:

Communication breakdown

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FED (Find Edge)
Description:
Moves given axis to a given signal edge.
In contrast to the referencing commands (FNL
(p. 129), FPL (p. 131) and FRF (p. 133)), this
command does not change the reference state of
the axis and does not set a certain position value at
the selected edge. It does move out of the limit
condition, therefore the axis motion finishes at the
same position as with the corresponding referencing
commands.
If multiple axes are given in the command, they are
moved synchronously.

Format:

Arguments:

is one axis of the controller.
is the type of edge the axis has to move
to. See below for available edge types.
depends on the selected edge and
qualifies it. See below for details.

Response:

none

Troubleshooting:

Illegal axis identifier; limit switches and/or reference
switch are disabled (see below); servo is off

Notes:

This command can be used both with servo enabled
or disabled (open-loop and closed-loop operation)
for the commanded axis, see SVO (p. 183)
command description .
The E-861 firmware detects the presence or
absence of reference switch and limit switches using
controller parameters (ID 0x14 for reference switch;
ID 0x32 for limit switches).
According to the values of those parameters, the
E-861 enables or disables FED motions to the
appropriate signal edges.
Adapt the parameter values to your hardware using

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SPA (p. 175) or SEP (p. 173). See "Controller
Parameters" (p. 35) for more information.
FED can be used to measure the physical travel
range of a new mechanics and thus to identify the
values for the corresponding controller parameters:
the distance from negative to positive limit switch,
the distance between the negative limit switch and
the reference switch (DISTANCE_REF_TO_N_LIM,
parameter ID 0x17), and the distance between
reference switch and positive limit switch
(DISTANCE_REF_TO_P_LIM, parameter ID 0x2F).
See "Travel Range Adjustment" (p. 92) for more
information.
The motion can be interrupted by #24 (p. 117), STP
(p. 182) and HLT (p. 137).
Motion commands like FED are not allowed when
the joystick is active for the axis. See "Joystick
Control" (p. 79) for details.
Available edge
types and
parameters:

The following edge types with their parameter
settings are available:
1 = negative limit switch, must be 0
2 = positive limit switch, must be 0
3 = reference switch, must be 0

FNL (Fast Reference Move To Negative Limit)
Description:
Performs a reference move.
Moves the given axis to the negative physical limit of
its travel range and sets the current position to a
defined value. See below for details.
If multiple axes are given in the command, they are
moved synchronously.
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.

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Format:

FNL [{}]

Arguments:

is one axis of the controller, if omitted, all
axes are affected.

Response:

none

Troubleshooting: Illegal axis identifier
Notes:

This command can be used both with servo enabled
or disabled for the commanded axis, see SVO
(p. 183) command description.
If reference move was successful, absolute motion
will afterwards be possible in open-loop and in closedloop operation.
The reference mode must be set to "1" (factory
default) with the RON command (p. 170) if
referencing is to be done by performing a reference
move. See "Referencing" (p. 51) for further details.
With the E-861, the negative limit switch of the
mechanics is used to determine the negative physical
limit of the travel range. The difference of
VALUE_AT_REF_POS (parameter ID 0x16) and
DISTANCE_REF_TO_N_LIM (parameter ID 0x17) is
set as the current position when the axis is at the
negative limit switch (value can be negative).
This command can be interrupted by #24 (p. 117),
STP (p. 182) and HLT (p. 137).
Use FRF? (p. 134) to check whether the reference
move was successful.
Use FRF (p. 133) instead of FNL to perform a
reference move for an axis which has no limit
switches but a reference sensor.
For best repeatability, always reference in the same
way.
If the soft limits (MAX_TRAVEL_RANGE_POS and
MAX_TRAVEL_RANGE_NEG) are used to reduce
the travel range, the limit switches cannot be used for
reference moves. The FNL and FPL commands will
provoke an error message, and only the reference
switch can be used for a reference move (FRF).
The soft limits may not be outside of the physical
travel range:

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MAX_TRAVEL_RANGE_POS ≤
DISTANCE_REF_TO_P_LIM +
VALUE_AT_REF_POS
MAX_TRAVEL_RANGE_NEG ≥
VALUE_AT_REF_POS DISTANCE_REF_TO_N_LIM
Otherwise, reference moves to the limit switches
would have incorrect results because the values of
the soft limits would be set at the end of the
referencing procedure.
See "Travel Range Adjustment" (p. 92) for more
information.
FPL (Fast Reference Move To Positive Limit)
Description:
Performs a reference move.
Moves the given axis to the positive physical limit of
its travel range and sets the current position to a
defined value. See below for details.
If multiple axes are given in the command, they are
moved synchronously.

Format:

Arguments:

is one axis of the controller, if omitted, all
axes are affected.

Response:

none

Troubleshooting:

Illegal axis identifier

Notes:

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referencing is to be done by performing a reference
move. See "Referencing" (p. 51) for further details.
With the E-861, the positive limit switch of the
mechanics is used to determine the positive physical
limit of the travel range. The sum of
VALUE_AT_REF_POS (parameter ID 0x16) and
DISTANCE_REF_TO_P_LIM (parameter ID 0x2F) is
set as the current position when the axis is at the
positive limit switch.
This command can be interrupted by #24 (p. 117),
STP (p. 182) and HLT (p. 137).
Use FRF? (p. 134) to check whether the reference
move was successful.
Use FRF (p. 133) instead of FPL to perform a
reference move for an axis which has no limit
switches but a reference sensor.
For best repeatability, always reference in the same
way.
If the soft limits (MAX_TRAVEL_RANGE_POS and
MAX_TRAVEL_RANGE_NEG) are used to reduce
the travel range, the limit switches cannot be used
for reference moves. The FNL and FPL commands
will provoke an error message, and only the
reference switch can be used for a reference move
(FRF).
The soft limits may not be outside of the physical
travel range:
MAX_TRAVEL_RANGE_POS ≤
DISTANCE_REF_TO_P_LIM +
VALUE_AT_REF_POS
MAX_TRAVEL_RANGE_NEG ≥
VALUE_AT_REF_POS DISTANCE_REF_TO_N_LIM
Otherwise, reference moves to the limit switches
would have incorrect results because the values of
the soft limits would be set at the end of the
referencing procedure.
See "Travel Range Adjustment" (p. 92) for more
information.

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FRF (Fast Reference Move To Reference Switch)
Description:
Performs a reference move.
Moves the given axis to the reference switch and
sets the current position to a defined value. See
below for details.
If multiple axes are given in the command, they are
moved synchronously.
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.
Format:

FRF [{}]

Arguments:

is one axis of the controller, if omitted, all
axes are affected.

Response:

none

Troubleshooting:

Illegal axis identifier

Notes:

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perform a reference move for an axis which has no
reference sensor but limit switches.
For best repeatability, always reference in the same
way. The FRF command always approaches the
reference switch from the same side, no matter
where the axis is when it is issued.
See "Travel Range Adjustment" (p. 92) for more
information.
FRF? (Get Referencing Result)
Description:
Indicates whether the given axis is referenced or
not.

Format:

An axis is considered as "referenced" when the
current position value is set to a known position.
This is the case when a reference move was
successfully performed with FNL (p. 129), FPL
(p. 131) or FRF (p. 133) or when the position was
set directly with POS (p. 166) (depending on the
referencing mode set with RON (p. 170)).
FRF? [{}]

Arguments:

: is one axis of the controller

Response:

{"=" LF}
where
indicates whether the axis was successfully
referenced (=1) or not (=0).

Troubleshooting:

www.pi.ws

Illegal axis identifier

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GOH (Go To Home Position)
Description:
Move given axes to home position.
GOH [{}]
is the same as
MOV { 0}
Servo must be enabled for the commanded axis
prior to using this command (closed-loop operation).
This command can be interrupted by #24 (p. 117),
STP (p. 182) and HLT (p. 137).
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.
Format:

GOH [{}]

Arguments:

: is one axis of the controller, if omitted, all
axes are affected

Response:

none

Troubleshooting:

Illegal axis identifier

HDR? (Get All Data Recorder Options)
Description:
List a help string which contains all information
available about data recording (record options and
trigger options, information about additional
parameters and commands concerned with data
recording).
Format:
HDR?
Arguments:

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none

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Response:

#RecordOptions
{"="[ of
]}
#TriggerOptions
[{"="}]
#Parameters to be set with SPA
[{“=“}]
#Additional information
[{"("")"}]
end of help

Example:

For the E-861, the HDR? response is as follows:
#RecordOptions
0=Nothing is recorded
1=Commanded Position of Axis
2=Actual Position of Axis
3=Position Error of Axis
70=Commanded Velocity of Axis
71=Commanded Acceleration of Axis
73=Motor Output of Axis
80=Signal Status Register of Axis
81=Analog input (Channel = 1 to 7)
#TriggerOptions
0=default setting
1=any command changing position (e.g. MOV)
2=next command
6=any command changing position (e.g. MOV), reset
trigger after execution
#Additional information
2 record tables
1024 datapoints per table
end of help

Note: TriggerOptions = 0 (default) means that
recording is triggered by the STE (p. 181) command.
HLP? (Get List Of Available Commands)
Description:
List a help string which contains all commands
available.
Format:
HLP?
Arguments:

none

Response:

List of commands available

Troubleshooting: Communication breakdown

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HLT (Halt Motion Smoothly)
Description:
Halt the motion of given axes smoothly. For details
see the notes below.
Error code 10 is set.
#24 (p. 117) and STP (p. 182) in contrast abort
current motion as fast as possible for the controller
without taking care of systems inertia or oscillations.
Format:

HLT [{}]

Arguments:

: is one axis of the controller, if omitted all
axes are halted

Response:

none

Troubleshooting:

Illegal axis identifier

Notes:

HLT stops motion with given system deceleration
with regard to system inertia.
HLT stops all motion caused by move commands
(MOV (p. 151), MVR (p. 153), OAD (p. 155), OMA
(p. 158), OMR (p. 161), OSM (p. 163), STE
(p. 181)), referencing commands (FNL (p. 129), FPL
(p. 131), FRF (p. 133)) and macros (MAC (p. 146)).
After the axes are stopped, if servo is on their target
positions are set to their current positions.

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HPA? (Get List Of Available Parameters)
Responds with a help string which contains all
Description:
available parameters with short descriptions. See
"Controller Parameters" (p. 35) for further details.
The listed parameters can be changed and/or saved
using the following commands:
SPA (p. 175) affects the parameter settings in volatile
memory (RAM).
WPA (p. 190) copies parameter settings from RAM to
non-volatile memory.
SEP (p. 173) writes parameter settings directly into
non-volatile memory (without changing RAM settings).
RPA (p. 171) resets RAM to the values from nonvolatile memory.
Format:

HPA?

Arguments:

none

Response:

{"=" LF}
where
is the ID of one parameter, hexadecimal
format
is a string which describes the corresponding
parameter.
The string has following format:
is the parameter name

JAS? (Query Joystick Axis Status)
Description:
Get the current status of the given axis of the given
joystick device which is directly connected to the
controller.
Format:

www.pi.ws

JAS? [{ }]

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Arguments:

is one joystick device connected to the
controller; see below for details
is one of the axes of the joystick
device; see below for details

Response:

{ "="}
where

Notes:

is the factor which is currently applied to
the current valid velocity setting of the controlled
motion axis, corresponds to the current displacement
of the joystick axis. See below for details.
One joystick device can be connected to the Joystick
socket (p. 220) of the E-861, the identifier is 1. The
E-861 supports one axis of the joystick device, the
identifier of the joystick axis is 1. See also "Accessible
Items and Their Identifiers" (p. 53).
The factor is applied to the velocity set
with VEL (p. 188) (closed-loop operation) or OVL
(p. 165) (open-loop operation), the range is -1.0 to 1.0.
Examples: With a factor of 0, the joystick axis is at the
center position; with a factor of -0.7, the displacement
of the joystick axis is about 2/3 in negative direction,
provided that a linear lookup table is currently valid
(see JLT (p. 142) for an example).

JAX (Set Axis Controlled By Joystick)
Description:
Set axis controlled by a joystick which is directly
connected to the controller.
Each axis of the controller can only be controlled by
one joystick axis.
Format:

JAX

Arguments:

is one joystick device connected to the
controller; see below for details
is one of the axes of the joystick
device; see below for details
is one axis of the controller

Response:

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none

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Notes:

JAX? (Get Axis Controlled By Joystick)
Description:
Get axis controlled by a joystick which is directly
connected to the controller.
Format:

JAX? [{ }]

Arguments:

is one joystick device connected to the
controller; see below for details
is one of the axes of the joystick
device; see below for details

Response:

{ "="{ }LF}
where
is one axis of the controller

Notes:

JBS? (Query Joystick Button Status)
Description:
Get the current status of the given button of the given
joystick device which is directly connected to the
controller.
Format:
JBS? [{ }]
Arguments:

is one joystick device connected to the
controller; see below for details
is one of the buttons of the joystick
device; see below for details

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Response:

{ "="}
where
indicates if the joystick button is pressed; 0 =
not pressed, 1 = pressed

Notes:

One joystick device can be connected to the Joystick
socket (p. 220) of the E-861, the identifier is 1. The
E-861 supports one button of the joystick device, the
identifier of the joystick button is 1. See also
"Accessible Items and Their Identifiers" (p. 53).

JDT (Set Joystick Default Lookup Table)
Description:
Set lookup table type for the given axis of the given
joystick device which is directly connected to the
controller.

Format:
Arguments:

The current valid lookup-table content for the specified
joystick axis is overwritten by the selection made with
JDT.
JDT { }
is one joystick device connected to the
controller; see below for details
is one of the axes of the joystick
device; see below for details
defines the type of lookup-table profile to use;
see below for details

Response:

none

Notes:

Available lookup The E-861 provides the following types for the lookuptables:
table profile:
1 = linear (power-on default)
2 = parabolic

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JLT (Fill Joystick Lookup Table)
Description:
Fill the lookup table for the given axis of the given
joystick device which is directly connected to the
controller.

Format:
Arguments:

The amplitudes of the joystick axes (i.e. their
displacements) are mapped to the current valid
velocity settings of the controller axes. For each
joystick axis there is a lookup table that defines this
mapping. With JLT this table can be written, or a
default table profile provided by the controller can be
loaded with the JDT command (p. 141).
JLT
is one joystick device connected to the
controller; see below for details
is one of the axes of the joystick
device; see below for details
is the index of a point in the lookup table,
starts with 1
is the value of point n; 256 values must be
written. The first point corresponds to the maximum
joystick axis displacement in negative direction, the
256th point to the maximum displacement in positive
direction.

Response:

none

Notes:

One joystick device can be connected to the Joystick
socket (p. 220) of the E-861, the identifier is 1. The
E-861 supports one axis of the joystick device, the
identifier of the joystick axis is 1. See also "Accessible
Items and Their Identifiers" (p. 53).
The values are factors which will during
joystick control be applied to the velocity set with VEL
(p. 188) (closed-loop operation) or OVL (p. 165)
(open-loop operation), the range is -1.0 to 1.0.

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Notes:

Example:
In the current lookup table, point 1 has the value 1,
hence the controlled axis will move with full velocity in
positive direction at the maximum positive
displacement of the joystick.
Points 122 to 135 have the value 0, i.e. at the center
position of the joystick and in a small area around the
center, the velocity is 0 and the controlled axis will not
move.
Point 236 has the value -0.7021, i.e. when the
displacement of the joystick axis is about 2/3 in
negative direction, the controlled axis will move in
negative direction with about 2/3 of the velocity.
Point 256 has the value -1, i.e. the controlled axis will
move with full velocity in negative direction at the
maximum negative displacement of the joystick.

JLT? (Get Joystick Lookup Table Values)
Description:
Reading of the current valid lookup table values.
Format:

JLT? [ [{
}]]

Arguments:

: is the start point in the lookup table,
starts with 1
: is the number of points to be read
per joystick axis; maximum number is 256
is one joystick device connected to the
controller; see below for details
is one of the axes of the joystick
device; see below for details

Response:

www.pi.ws

The lookup table content in GCS array format, see the
separate manual for GCS array, SM 146E, and the
example below

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Notes:

Example:

www.pi.ws

With the E-861, and
must be omitted in the JLT? command, while
and are always
required.
The values in the lookup table are factors
which will during joystick control be applied to the
velocity set with VEL (p. 188) (closed-loop operation)
or OVL (p. 165) (open-loop operation), the range is 1.0 to 1.0.
jlt? 1 20
# TYPE = 1
#
# SEPARATOR = 32
# DIM = 0
# NDATA = 20
# NAME0 = Joysticktable 1
# END HEADER
1.0000
0.9833
0.9677
0.9521
0.9365
0.9208
0.9052
0.8896
0.8750
0.8593
0.8447
0.8300
0.8154
0.8007
0.7861
0.7714
0.7578
0.7431
0.7294
0.7158

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JON (Set Joystick Activation Status)
Description:
Enable or disable a joystick device which is directly
connected to the controller.

Format:
Arguments:

For joystick control of a controller axis, this axis must
be assigned to a joystick axis with JAX (p. 139), and
the corresponding joystick device must be enabled
with JON.
JON { }
is one joystick device connected to the
controller; see below for details
1 enables the joystick device, 0 disables
joystick device

Response:

none

Notes:

One joystick device can be connected to the Joystick
socket (p. 220) of the E-861, the identifier is 1. See
also "Accessible Items and Their Identifiers" (p. 53).
Motion commands like MOV (p. 151) or OSM (p. 163)
are not allowed when a joystick is active on the axis.
See "Joystick Control" (p. 79) for details.

JON? (Get Joystick Activation Status)
Description:
Get activation state of the given joystick device which
is directly connected to the controller.
Format:

JON? [{}]

Arguments:

is one joystick device connected to the
controller; see below for details

Response:

{"="}
where
is the joystick activation state: 1 = joystick
device enabled, 0 = joystick device disabled

Notes:

www.pi.ws

One joystick device can be connected to the Joystick
socket (p. 220) of the E-861, the identifier is 1. See
also "Accessible Items and Their Identifiers" (p. 53).

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LIM? (Indicate Limit Switches)
Description:
Indicates whether axes have limit switches.
Format:

LIM? [{}]

Arguments:

: is one axis of the controller

Response:

{"=" LF}
where
indicates whether the axis has limit switches
(=1) or not (=0).

Troubleshooting: Illegal axis identifier
Notes:

The E-861 firmware detects the presence or absence
of limit switches using a controller parameter (ID
0x32). According to the value of this parameter, the
E-861 enables or disables the stopping of the motion
at the limit switches and reference moves using FNL
(p. 129) or FPL (p. 131). Adapt the parameter value to
your hardware using SPA (p. 175) or SEP (p. 173).
See "Controller Parameters" (p. 35) for more
information.

MAC (Call Macro Function)
Description:
Call a macro function. Permits recording, deleting and
running macros on the controller.
Format:

MAC {}
in particular:
MAC BEG
MAC DEF
MAC DEF?
MAC DEL
MAC END
MAC NSTART
MAC START

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Arguments:

determines which macro function is
called. The following keywords and parameters are
used:
MAC BEG
Start recording a macro to be named macroname on
the controller; may not be used in a macro; the
commands that follow become the macro, so if
successful, the error code cannot be queried. End the
recording with MAC END.
MAC END
Stop macro recording (cannot become part of a
macro)
MAC DEF
Set specified macro as start-up macro. This macro
will be automatically executed with the next power-on
or reboot of the controller. If is omitted,
the current start-up macro selection is canceled.
MAC DEF?
Ask for the start-up macro
Response:
If no start-up macro is defined, the response is an
empty string with the terminating character.
MAC DEL
Deletes specified macro.

MAC NSTART
Repeat the specified macro times. Another
execution is started when the last one is finished.
MAC START
Starts one execution of specified macro.

Response:

none

Troubleshooting: Macro recording is active (keywords BEG, DEL) or
inactive (END)
Macro contains a disallowed MAC command

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Notes:

During macro recording no macro execution is
allowed.
When a macro is recorded for a controller whose
address is different from 1, the target ID must be part
of each command line, but will not become part of the
macro content. See "Defining Macros" (p. 82) and
"Target and Sender Address" (p. 110) for more
information.
A macro can be overwritten by a macro with the same
name.
A running macro sends no responses to any
interface. This means questioning commands are
allowed in macros but not answered and therefore
useless.
The following commands provided by the E-861 can
only be used in macros:
DEL (p. 120), MEX (p. 149) and WAC (p. 189).
A macro can start another macro. Further nesting is
not allowed (only one nesting level). A macro can call
itself to form an infinite loop.
Any commands can be sent from the command line
when a macro is running. The macro content and
move commands received from the command line
may overwrite each other, and only the last move
command will be executed, irrespective of its source.
Macro execution can be stopped with #24 (p. 117),
STP (p. 182) and HLT (p. 137).

Simultaneous execution of multiple macros is not
possible. Only one macro can be executed at a time.
A running macro may not be deleted.
Macro execution is not allowed when a joystick is
active on the axis, but macro recording is possible.
See "Joystick Control" (p. 79) for details.
You can query with #8 (p. 116) if a macro is currently
running on the controller.
Warning: The number of write cycles of
non-volatile memory is limited.

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MAC? (List Macros)
Description:
List macros or content of a given macro.
Format:

MAC? []

Arguments

: name of the macro whose content
shall be listed; if omitted, the names of all stored
macros are listed.

Response:

if was given, is the content of
this macro;
if was omitted, is a list with the
names of all stored macros

Troubleshooting: Macro not found

MEX (Stop Macro Execution Due To Condition)
Description:

Stop macro execution due to a given condition of the
following type: a specified value is compared with a
queried value according to a specified rule.
Can only be used in macros.

Format:
Arguments

When the macro interpreter accesses this command
the condition is checked. If it is true the current macro
is stopped, otherwise macro execution is continued
with the next line. Should the condition be fulfilled
later, the interpreter will ignore it.
See also WAC (p. 189).
MEX
is one questioning command in its usual
syntax. The answer must consist of a single value. For
an example see below.
is the operator to be used. The following
operators are possible:
= <= < > >= !=
is the value to be compared with the
response of

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Response:

none

Example:

Send: MAC START AMC001
Note: Macro "AMC001" has the following contents:
MAC START AMC002
MAC START AMC003
MEX DIO? 4 = 1
MAC START AMC001
Macro " AMC002" has the following contents:
MEX DIO? 4 = 1
MEX DIO? 1 = 0
MVR 1 1.0
DEL 100

Macro AMC003" has the following content:
MEX DIO? 4 = 1
MEX DIO? 2 = 0
MVR 1 -1.0
DEL 100
Macro AMC001 forms an infinite loop by permanently
calling AMC002, AMC003 and itself.
AMC002 checks the state of the digital input channel 1
(located on the I/O socket (p. 218)). If it is not set (0),
the macro is aborted, otherwise the macro will move
axis 1 by 1.0 in positive direction (relative move).
AMC003 checks the state of the digital input channel 2
and moves axis 1 in negative direction accordingly.

Connecting the digital input channels 1, 2 and 4 with
pushbuttons, e.g. with the C-170.PB pushbutton box,
it is possible to implement interactive control of an axis
without any software assistance. The delay (DEL 100)
is required to avoid generation of multiple MVR
commands while pressing the pushbutton for a short
time.
Channel 4 is used as a global exit. Since MEX stops
execution of the current macro only, it must also be
included in the calling macro, which would otherwise
continue.

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MOV (Set Target Position)
Description:
Set new absolute target position for given axis.
Servo must be enabled for the commanded axis prior
to using this command (closed-loop operation).
Format:

MOV { }

Arguments:

is one axis of the controller

Response:

is the new absolute target position in
physical units.
none

Notes:

Caution: Do not use this command if no
sensor is present in your system. Otherwise
the connected mechanics can run into the
hardstop at full speed which may cause
damage to your hardware setup.
The target position must be inside the travel range
limits. Use TMN? (p. 186) and TMX? (p. 187) to ask
for the current valid travel range limits.
The motion can be interrupted by #24 (p. 117), STP
(p. 182) and HLT (p. 137).
During a move, a new move command resets the
target to a new value and the old one may never be
reached.
This is also valid with macros: move commands can
be sent from the command line when a macro is
running.
The macro content and move commands received
from the command line may overwrite each other, and
only the last move command will be executed,
irrespective of its source.

Example 1:

www.pi.ws

Motion commands like MOV are not allowed when a
joystick is active on the axis. See "Joystick Control"
(p. 79) for details.
Send: MOV 1 10
Note: Axis 1 moves to 10 (target position in mm)

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Example 2:

Send: MOV 1 243
Send: ERR?
Receive:
7
Note: The axis does not move. The error code "7" in
the reply to the ERR? command (p. 127) indicates that
the target position given in the move command is out
of limits.

MOV? (Get Target Position)
Description:
Returns last valid commanded target position.
Format:

MOV? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the last commanded target position in
physical units

Troubleshooting: Illegal axis identifier
Notes:

The target position can be changed by commands
that cause motion (e.g. MOV (p. 151), MVR (p. 153),
GOH (p. 135), STE (p. 181)) or by the joystick (when
disabling a joystick, the target position is set to the
current position for joystick-controlled axes which are
in closed-loop operation).
MOV? gets the commanded positions. Use POS?
(p. 167) to get the current positions.
Note that if servo is disabled, MOV? does not deliver
the last commanded position, but 0.

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MVR (Set Target Relative To Current Position)
Description:
Move given axes relative to the last commanded target
position.
The new target position is calculated by adding the
given value to the last commanded target
value.

Format:

Servo must be enabled for the commanded axis prior
to using this command (closed-loop operation).
MVR { }

Arguments:

is one axis of the controller.
gives the distance to move; the sum of the
distance and the last commanded target position is set
as new target position (in physical units).

Response:

Notes:

none
Caution: Do not use this command if no
sensor is present in your system. Otherwise
the connected mechanics can run into the
hardstop at full speed which may cause
damage to your hardware setup.
The target position must be inside the travel range
limits. Use TMN? (p. 186) and TMX? (p. 187) to ask
for the current valid travel range limits, and MOV?
(p. 152) for the current target.
The motion can be interrupted by #24 (p. 117), STP
(p. 182) and HLT (p. 137).
During a move, a new move command resets the
target to a new value and the old one may never be
reached. This is also valid with macros: move
commands can be sent from the command line when
a macro is running. The macro content and move
commands received from the command line may
overwrite each other, and only the last move
command will be executed, irrespective of its source.
Motion commands like MVR are not allowed when a
joystick is active on the axis. See "Joystick Control"
(p. 79) for details.

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Example:

Send:
MOV 1 0.5
Note:
This is an absolute move.
Send:
POS? 1
Receive:
1=0.500000
Send:
MOV? 1
Receive:
1=0.500000
Send:
MVR 1 2
Note:
This is a relative move.
Send:
POS? 1
Receive:
1=2.500000
Send:
MVR 1 2000
Note:
New target position of axis 1 would
exceed motion range. Command is ignored, i.e. the
target position remains unchanged, and the axis does
not move.
Send:
MOV? 1
Receive:
1=2.500000
Send:
POS? 1
Receive:
1=2.500000

OAC (Set Open-Loop Acceleration)
Description:
Set open-loop acceleration of given axes.
The OAC setting only takes effect when the given axis
is in open-loop operation (servo off).
OAC can be changed while the axis is moving.
Format:

OAC { }

Arguments:

is one axis of the controller
is the acceleration value in step
cycles/s2.

Response:

none

Troubleshooting: Illegal axis identifiers
Notes:

The lowest possible value for is 0.
OAC changes the value of the Current open-loop
acceleration parameter (ID 0x7000202) in volatile
memory (can be saved as power-on default with WPA
(p. 190), can also be changed with SPA (p. 175) and
SEP (p. 173)).
The maximum value which can be set with the OAC
command is given by the Maximum open-loop

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acceleration parameter, ID 0x7000205 (can be
changed with SPA (p. 175) and SEP (p. 173)).
OAC? (Get Open-Loop Acceleration)
Description:
Get the current value of open-loop acceleration.
If all arguments are omitted, gets current value of all
axes.
Format:

OAC? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the current active open-loop acceleration
value in step cycles / s2.

OAD (Open-Loop Analog Driving)
Description:
Open-loop analog driving of the given PiezoWalk
channel.
Servo must be disabled for the commanded axis prior
to using this command (open-loop operation).
Format:

OAD {PiezoWalkChanID Vol}

Arguments

is one PiezoWalk channel
is the feed voltage amplitude in V. (See “Motion
Modes” (p. 56) for details).
The allowable range is between -55 and 55.
The sign determines the motion direction.

Response:

none

Troubleshooting: Illegal PiezoWalk channel identifier; the PiezoWalk
channel is not in the Relaxed state (RNP (p. 168)
required); the servo is on for the axis; joystick is
enabled for the axis

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Notes:

Analog driving means a motion with highest motion
resolution. All piezos are in contact with the runner
and move in the same direction. To achieve this, all
the piezos are driven by the same "feed" voltage.
In open-loop operation, an RNP command must be
sent each time the motion mode is to be changed
from nanostepping motion (OSM command (p. 163))
to analog motion (OAD command) and vice versa.
RNP brings the drive to a full-holding-force, zerodrive-voltage Relaxed state.
The first OAD sent for a NEXACT® linear drive which
is in the Relaxed state prepares the drive for analog
motion (brings it to the Analog state) before the actual
motion is done. Once the drive is in the Analog state,
each subsequent OAD motion will be executed
immediately.
The first OAD after a change of motion mode and the
RNP procedure can take up to four times the slewrate
value (parameter ID 0x7000002; can be changed with
SPA (p. 175) and SEP (p. 173)).
Note that the OAD command does not use the
trajectory generator as all other move commands do,
but OAD motion is determined by the slewrate value
only.
After open-loop analog motion was done with OAD,
an RNP command must be sent first before the servo
can be switched on with SVO (p. 183).
See "Modes of Operation" (p. 54) and "Example for
Commanding Motion" (p. 20) for more information and
an example.
You can query the current state of the system (E-861
and NEXACT® linear drive) using the #4 command
(p. 114) and the SRG? command (p. 178).
See "Changing Motion and Servo Mode" (p. 59) for
more information.
Motion commands like OAD are not allowed when a
joystick is active on the axis. See "Joystick Control"
(p. 79) for details.

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OAD? (Get Voltage for Open-Loop Analog Motion)
Description:
Reads last-commanded open-loop analog-driving
voltage of a given PiezoWalk channel.
Format:

OAD? [{PiezoWalkChanID}]

Arguments:
Response:

is one PiezoWalk channel
{"=" LF}
where
is the last-commanded feed voltage amplitude
in V

Troubleshooting: Illegal PiezoWalk channel identifier

ODC (Set Open-Loop Deceleration)
Description:
Set open-loop deceleration of given axes.
The ODC setting only takes effect when the given
axis is in open-loop operation (servo off).
ODC can be changed while the axis is moving.
Format:

ODC { }

Arguments:

is one axis of the controller
is the open-loop deceleration value in
step cycles/s2.

Response:

none

Troubleshooting: Illegal axis identifiers
Notes:

The lowest possible value for is 0.
ODC changes the value of the Current open-loop
deceleration parameter (ID 0x7000203) in volatile
memory (can be saved as power-on default with WPA
(p. 190), can also be changed with SPA (p. 175) and
SEP (p. 173)).
The maximum value which can be set with the ODC
command is given by the Maximum open-loop
deceleration parameter, ID 0x7000206 (can be
changed with SPA (p. 175) and SEP (p. 173)).

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ODC? (Get Open-Loop Deceleration)
Description:
Get the current value of the open-loop deceleration.
If all arguments are omitted, gets current value of all
axes.
Format:

ODC? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the current active open-loop deceleration
value in step cycles / s2.

OMA (Absolute Open-Loop Motion)
Description:
Commands specified axis to the given absolute
position. Motion is realized in open-loop nanostepping
mode.
Servo must be disabled for the commanded axis prior
to using this command (open-loop operation).
With OMA there is no position control (i.e. the target
position is not maintained by any control loop). Due to
the motion profile (velocity, acceleration), there will
typically be an overshoot. The E-861 counts the
overshoot steps, and the axis moves back the
corresponding number of steps.
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.
Format:

OMA { }

Arguments:

is one axis of the controller
is the new absolute target position in
physical units, float

Response:

www.pi.ws

none

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Troubleshooting: Illegal axis identifier; the axis is not in the Relaxed state
(RNP (p. 168) required); the servo is on for the axis;
joystick is enabled for the axis
Notes:

The velocity for open-loop nanostepping motion
depends on the step size and on the step frequency.
The step size is given by the amplitude of the feed
voltage which can be set with SSA (p. 180) and queried
with SSA? (p. 180). The step frequency can be set with
OVL (p. 165) and queried with OVL? (p. 166).
In open-loop operation, an RNP command must be sent
each time the motion mode is to be changed from
nanostepping motion (OMA, OMR (p. 161) or OSM
command (p. 163)) to analog motion (OAD (p. 155)
command) and vice versa.
RNP brings the drive to a full-holding-force, zero-drivevoltage Relaxed state.
See "Modes of Operation" (p. 54) and "Example for
Commanding Motion" (p. 20) for more information and
an example.
The first OMA sent for a NEXACT® linear drive which is
in the Relaxed state prepares the drive for nanostepping
motion (brings it to the In Motion state) before the actual
motion is done. Once the drive is in the In Motion state,
each subsequent OMA motion will be executed
immediately.
Note that a second OMA command cannot be
processed as long as a motion commanded with a first
OMA or OMR is still performed.
The first OMA after a change of motion mode and the
RNP procedure can take up to four times the slewrate
value (parameter ID 0x7000002; can be changed with
SPA (p. 175) and SEP (p. 173)).

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You can query the current state of the system (E-861
and NEXACT® linear drive) using the #4 command
(p. 114) and the SRG? command (p. 178).
See "Changing Motion and Servo Mode" (p. 59) for more
information.
The motion can be interrupted by #24 (p. 117), STP
(p. 182) and HLT (p. 137).
Motion commands like OMA are not allowed when a
joystick is active on the axis. See "Joystick Control"
(p. 79) for details.

OMA? (Get Open-Loop Target Position)
Description:
Returns last valid commanded open-loop target
position. The open-loop target position is changed by
OMA (p. 158) and OMR (p. 161).
Note that OMA? gets the commanded positions. Use
POS? (p. 167) to get the current positions.
Format:

OMA? {[]}

Arguments:

is one axis of the controller

Response:

is the last commanded open-loop target
position in physical units. Format of is
floating point number.
{"="LF}

Notes:

www.pi.ws

OMA? gets the commanded positions. Use POS?
(p. 167) to get the current positions.
Note that if servo is enabled, OMA? does not deliver
the last commanded position, but 0.

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OMR (Relative Open-Loop Motion)
Description:

Commands specified axis to a position relative to the
last commanded open-loop target position. The new
open-loop target position is calculated by adding the
given value to the last commanded target
value.
Motion is realized in nanostepping mode.
Servo must be disabled for the commanded axis prior
to using this command (open-loop operation).
With OMR there is no position control (i.e. the target
position is not maintained by a control loop). Due to
the motion profile (velocity, acceleration), there will
typically be an overshoot. The E-861 counts the
overshoot steps, and the axis moves back the
corresponding number of steps.
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.

Format:

OMR { }

Arguments:

is one axis of the controller
is added to the last commanded openloop target position. The sum is set as new open-loop
target position in physical units. Format of
is floating point number.

Response:

none

Troubleshooting: Illegal axis identifier; the axis is not in the Relaxed
state (RNP (p. 168) required); the servo is on for the
axis; joystick is enabled for the axis

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Notes:

The velocity for open-loop nanostepping motion
depends on the step size and on the step frequency.
The step size is given by the amplitude of the feed
voltage which can be set with SSA (p. 180) and
queried with SSA? (p. 180). The step frequency can
be set with OVL (p. 165) and queried with OVL?
(p. 166).
In open-loop operation, an RNP command must be
sent each time the motion mode is to be changed
from nanostepping motion (OMA (p. 158), OMR or
OSM command (p. 163)) to analog motion (OAD
(p. 155) command) and vice versa. RNP brings the
drive to a full-holding-force, zero-drive-voltage
Relaxed state.
See "Modes of Operation" (p. 54) and "Example for
Commanding Motion" (p. 20) for more information and
an example.
The first OMR sent for a NEXACT® linear drive which
is in the Relaxed state prepares the drive for
nanostepping motion (brings it to the In Motion state)
before the actual motion is done. Once the drive is in
the In Motion state, each subsequent OMR motion will
be executed immediately.
Note that a second OMR command cannot be
processed as long as a motion commanded with a
first OMR or OMA is still performed.
The first OMR after a change of motion mode and the
RNP procedure can take up to four times the slewrate
value (parameter ID 0x7000002; can be changed with
SPA (p. 175) and SEP (p. 173)).
You can query the current state of the system (E-861
and NEXACT® linear drive) using the #4 command
(p. 114) and the SRG? command (p. 178).
See "Changing Motion and Servo Mode" (p. 59) for
more information.
The motion can be interrupted by #24 (p. 117), STP
(p. 182) and HLT (p. 137).
Motion commands like OMR are not allowed when a
joystick is active on the axis. See "Joystick Control"
(p. 79) for details.

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ONT? (Get On Target State)
Description:
Get on-target status of given axis.
If all arguments are omitted, gets status of all axes.
Format:

ONT? [{}]

Arguments:

is one axis of the controller.

Response:

{"=" LF}
where
= "1" when the specified axis is on-target, "0"
otherwise.

Troubleshooting: Illegal axis identifier
Notes:

The detection of the on-target status differs for closedloop and open-loop operation.
Closed-loop operation:
The on-target status is influenced by two parameters:
settle window (parameter ID 0x36) and settle time
(parameter ID 0x3F).
The on-target status is true when the current position
is inside the settle window and stays there for at least
the settle time. The settle window is centered around
the target position.
Open-loop operation:
The on-target status is true when the trajectory has
finished which was internally calculated for the motion.

OSM (Open-Loop Step Moving)
Description:
Open-loop nanosteppping motion of the given
PiezoWalk channel.

Format:

www.pi.ws

Servo must be disabled for the commanded axis prior
to using this command (open-loop operation).
OSM {PiezoWalkChanID Steps}

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Arguments:

is one PiezoWalk channel
is the number of steps to perform

Response:

none

Troubleshooting: Illegal PiezoWalk channel identifier; the PiezoWalk
channel is not in the Relaxed state (RNP (p. 168)
required); the servo is on for the axis; joystick is
enabled for the axis
Notes:

The NEXACT® linear drive performs the given
number of steps of a pre-defined size and can thus
cover the whole runner (i.e. the travel range is only
limited by the length of the runner).
Steps are commanded using floating point numbers,
i.e. you can also command any part of a full step.
The velocity for open-loop nanostepping motion
depends on the step size and on the step frequency.
The step size is given by the amplitude of the feed
voltage which can be set with SSA (p. 180) and
queried with SSA? (p. 180). The step frequency can
be set with OVL (p. 165) and queried with OVL?
(p. 166).
With each new OSM command, the number of steps
to perform is counted starting from zero (there is no
adding up of steps).
In open-loop operation, an RNP command (p. 168)
must be sent each time the motion mode is to be
changed from nanostepping motion (OSM, OMA
(p. 158) or OMR (p. 161) commands) to analog
motion (OAD command (p. 155)) and vice versa. RNP
brings the drive to a full-holding-force, zero-drivevoltage Relaxed state.
The first OSM sent for a NEXACT® linear drive which
is in the Relaxed state prepares the drive for
nanostepping motion (brings it to the In Motion state)
before the actual motion is done. Once the drive is in
the In Motion state, each subsequent OSM motion will
be executed immediately.
The first OSM after a change of motion mode and the
RNP procedure can take up to four times the slewrate
value (parameter ID 0x7000002; can be changed with
SPA (p. 175) and SEP (p. 173)).

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You can query the current state of the system (E-861
and NEXACT® linear drive) using the #4 command
(p. 114) and the SRG? command (p. 178).
See "Modes of Operation" (p. 54) for more information
and "Examples for Commanding Motion (p. 20)" for
an example.
The motion can be interrupted by #24 (p. 117), STP
(p. 182) and HLT (p. 137).
Motion commands like OSM are not allowed when a
joystick is active on the axis. See "Joystick Control"
(p. 79) for details.

OVL (Set Open-Loop Velocity)
Description:
Set velocity for open-loop nanostepping motion of
given PiezoWalk channel.
The OVL setting only takes effect when the given axis
is in open-loop operation (servo off).
OVL can be changed while the PiezoWalk channel is
moving.
Format:

OVL { }

Arguments:

is one PiezoWalk channel
is the open-loop velocity value in
[step cycles / s].

Response:

none

Troubleshooting: Illegal PiezoWalk channel identifier
Notes:

is positive or zero.
The velocity for open-loop nanostepping motion is
also influenced by the step amplitude set with SSA
(p. 180).
OVL changes the values of the Current open-loop
velocity parameter (ID 0x7000201) in volatile memory
(can also be changed with SPA (p. 175) and SEP
(p. 173)).

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The maximum value which can be set with the OVL
command is given by the Maximum open-loop
velocity parameter, ID 0x7000204 (can be changed
with SPA (p. 175) and SEP (p. 173)).
On power-on, the current open-loop velocity is set by
the Current open-loop velocity parameter, ID
0x7000201.
OVL? (Get Open-Loop Velocity)
Description:
Get the current value of the velocity for open-loop
nanostepping motion.
If all arguments are omitted, gets current values of all
PiezoWalk channels.
Format:

OVL? [{}]

Arguments:

is one PiezoWalk channel

Response:

{"=" LF}
where
is the current active velocity value for openloop nanostepping motion, in step cycles / s.

POS (Set Real Position)
Description:
Sets the current position (does not cause motion).
Format:

POS { }

Arguments:

is one axis of the controller.

Response:

is the new current position in physical
units.
none

Troubleshooting: Illegal axis identifier
Notes:

Setting the current position with POS is only possible
when the reference mode is set to "0", see RON
(p. 170).
An axis is considered as "referenced" when the
position was set with POS (for more information refer
to "Referencing" (p. 51)).

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The minimum and maximum commandable positions
(TMN? (p. 186), TMX? (p. 187)) are not adapted when
a position is set with POS.
This may result in target positions which are allowed
by the software and cannot be reached by the
hardware.
Also target positions are possible which can be
reached by the hardware but are denied by the
software.
Furthermore, the home position can be outside of the
physical travel range after using POS.

POS? (Get Real Position)
Description:
Returns the current axis position.

Format:

If all arguments are omitted, gets current position of all
axes.
POS? [{}]

Arguments:

is one axis of the controller.

Response:

{"=" LF}
where
is the current axis position in physical units

Troubleshooting: Illegal axis identifier

RBT (Reboot System)
Description:
Reboot system. Controller behaves just like after
power-on.
Format:
RBT

www.pi.ws

Arguments:

none

Response:

none

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RMC? (List Running Macros)
Description:
List macros which are currently running.
Format:

RMC?

Arguments:

none

Response:

{ LF}
where
is the name of one macro which is
saved on the controller and currently running. The
response is an empty line when no macro is running.

RNP (Relax PiezoWalk Piezos)
Description:
"Relax" the piezos of a given PiezoWalk channel
without performing any motion. The aim of this
procedure is to reduce all applied voltages when the
final position is reached and thus to increase the
lifetime of the piezos.
Format:
RNP {PiezoWalkChanID Vol}
Arguments

is one PiezoWalk channel
must be 0 to set the voltages to 0 V

Response:

none

Troubleshooting: Illegal PiezoWalk channel identifier; servo is on

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Notes:

Servo must be disabled for the commanded axis prior
to using this command (open-loop operation).
With the Relaxing procedure performed by RNP, the
NEXACT® linear drive is brought to a full-holdingforce, zero-drive-voltage Relaxed state.
RNP should reduce the voltages to zero without
changing the position of the NEXACT® linear drive.
But depending on the current load, which may lead to
a small motion of the movable part of the mechanics
during the RNP procedure, small changes in position
can occur.
In open-loop operation, an RNP command must be
sent each time the motion mode is to be changed
from nanostepping motion (OMA (p. 158), OMR
(p. 161), OSM (p. 163)) to analog motion (OAD
(p. 155)) or vice versa.
After open-loop analog motion was done with OAD,
an RNP command must be sent first before the servo
can be switched on with SVO (p. 183).
The RNP procedure can take up to four times the
slewrate value (parameter ID 0x7000002; can be
changed with SPA (p. 175) and SEP (p. 173)).
You can query the current state of the system (E-861
and NEXACT® linear drive) using the #4 command
(p. 114) and the SRG? command (p. 178).
See "Modes of Operation" (p. 54), "Changing Motion
and Servo Mode (p. 59)" and "Example for
Commanding Motion (p. 20)" for more information and
an example.

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RON (Set Reference Mode)
Description:
Set reference mode of given axes.
Format:

RON { }

Arguments:

is one axis of the controller.
can be 0 or 1:
0= referencing moves with FRF (p. 133), FNL (p. 129)
and FPL (p. 131) are not possible, absolute position
must be set with POS (p. 166) to reference the axis.
1= FRF or FNL or FPL is required to reference the
axis, usage of POS is not allowed.
1 is default.

Response:

none

Troubleshooting: Illegal axis identifier
Notes:

For more information refer to "Referencing" (p. 51)
and "Travel Range Adjustment" (p. 92).

RON? (Get Reference Mode)
Description:
Get reference mode of given axes.
Format:

RON? [{ }]

Arguments:

is one axis of the controller.

Response:

{"=" LF}
where
is the current reference mode of the
controller, see RON (p. 170)

Troubleshooting: Illegal axis identifier

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RPA (Reset Volatile Memory Parameters)
Description:
Resets the given parameter of the given item. The
value from non-volatile memory is written into volatile
memory.
Related commands:
With HPA? (p. 138) you can obtain a list of the
available parameters. SPA (p. 175) affects the
parameter settings in volatile memory, WPA (p. 190)
writes parameter settings from volatile to non-volatile
memory, and SEP (p. 173) writes parameter settings
directly into non-volatile memory (without changing
the settings in volatile memory).
See SPA for an example.
Format:

RPA [{ }]

Arguments:

is the item for which a parameter is to be
reset. See below for details.
is the parameter ID, can be written in
hexadecimal or decimal format. See below for details.

Response:

none

Troubleshooting: Illegal item identifier, wrong parameter ID
Notes:

With the E-861, you can reset either all parameters or
one single parameter with RPA.

Available item
IDs and
parameter IDs:

An item is an axis / a PiezoWalk channel, the
identifier is always 1. See "Accessible Items and
Their Identifiers" (p. 53) for more information.
Valid parameter IDs are given in "Controller
Parameters" (p. 35).

RTR (Set Record Table Rate)
Description:
Sets the record table rate, i.e. the number of servoloop cycles to be used in data recording operations.
Settings larger than 1 make it possible to cover longer
time periods.

www.pi.ws

Format:

RTR

Arguments:

is the table rate to be used for
recording operations (unit: number of servo-loop
cycles), must be an integer value larger than zero

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Response:

None

Notes:

The duration of the recording can be calculated as
follows:
Rec. Duration = Servo Cycle Time * RTR value *
Number of Points
where
Servo Cycle Time is 20 µs for the E-861
Number of Points is 1024 for the E-861 (length of data
recorder table)
For more information see "Data Recording" (p. 88).
The record table rate set with RTR is saved in volatile
memory (RAM) only.

RTR? (Get Record Table Rate)
Description:
Gets the current record table rate, i.e. the number of
servo-loop cycles used in data recording operations.
Format:

RTR?

Arguments:

None

Response:

is the table rate used for
recording operations (unit: number of servo-loop
cycles)

SAI? (Get List Of Current Axis Identifiers)
Description:
Gets the axis identifiers.
See also "Accessible Items and Their Identifiers"
(p. 53).

www.pi.ws

Format:

SAI? [ALL]

Arguments:

[ALL] is optional. For controllers which allow for axis
deactivation, [ALL] ensures that the answer also
includes the axes which are "deactivated".

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Response:

{ LF}
is one axis of the controller.

SEP (Set Non-Volatile Memory Parameters)
Description:
Set a parameter of a given item to a different value in
non-volatile memory, where it becomes the new
power-on default.
After parameters were set with SEP, you can use RPA
(p. 171) to activate them (write them to volatile
memory) without controller reboot.
Caution: This command is for setting
hardware-specific parameters. Wrong
values may lead to improper operation or
damage of your hardware!
Related commands:
HPA? (p. 138) returns a list of the available
parameters.
SPA (p. 175) writes parameter settings into volatile
memory (without changing the settings in non-volatile
memory).
WPA (p. 190) writes parameter settings from volatile
to non-volatile memory.
See SPA for an example.
Format:

SEP { }

Arguments

is the password for writing to non-volatile
memory, default is "100"
is the item for which a parameter is to be
changed in non-volatile memory. See below for
details.
is the parameter ID, can be written in
hexadecimal or decimal format. See below for details.
is the value to which the given
parameter of the given item is set

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Response:

none

Troubleshooting: Illegal item identifier, wrong parameter ID, invalid
password
Notes:
Warning: The number of write cycles of
non-volatile memory is limited. Write
default values only when necessary.
With the E-861, you can write only one single
parameter per SEP command.
The GEMAC parameters (ID 0x7000010 to ID
0x700001F) cannot be changed with SEP. Use SPA
and WPA instead to save their values to non-volatile
memory. See "GEMAC Parameters"
(p. 105) for more information.
Available item
IDs and
parameter IDs:

An item is an axis / a PiezoWalk channel, the
identifier is always 1. See "Accessible Items and Their
Identifiers" (p. 53) for more information.
Valid parameter IDs are given in "Controller
Parameters" (p. 35).

SEP? (Get Non-Volatile Memory Parameters)
Description:
Get the value of a parameter of a given item from nonvolatile memory.
With HPA? (p. 138) you can obtain a list of the
available parameters and their IDs.
Format:

SEP? [{ }]

Arguments:

is the item for which a parameter value from
non-volatile memory is to be queried. See below for
details.
is the parameter ID, can be written in
hexadecimal or decimal format. See below for details.

Response:

{ "=" LF}
where
is the value of the given parameter for
the given item

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Troubleshooting: Illegal item identifier, wrong parameter ID
Notes:

With the E-861, you can query either all parameters or
one single parameter per SEP? command.
The GEMAC parameters (ID 0x7000010 to ID
0x700001F) cannot be queried with SEP?. Use SPA?
(p. 178) immediately after power-on or reboot to read
the non-volatile values of these parameters. See
"GEMAC Parameters" (p. 105) for more information.

Available item
IDs and
parameter IDs:

An item is an axis / a PiezoWalk channel, the identifier
is always 1. See "Accessible Items and Their
Identifiers" (p. 53) for more information.
Valid parameter IDs are given in "Controller
Parameters" (p. 35).

SPA (Set Volatile Memory Parameters)
Description:
Set a parameter of a given item to a value in volatile
memory (RAM). Parameter changes will be lost when
the controller is powered down or rebooted or when
the parameters are restored with RPA (p. 171).
Caution: This command is for setting
hardware-specific parameters. Wrong
values may lead to improper operation or
damage of your hardware!
Related commands:
HPA? (p. 138) returns a list of the available
parameters.
SEP (p. 173) writes parameter settings directly into
non-volatile memory (without changing the settings in
volatile memory).
WPA (p. 190) writes parameter settings from volatile
to non-volatile memory.
RPA resets volatile memory to the value in nonvolatile memory.
Format:

www.pi.ws

SPA { }

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Arguments:

is the item for which a parameter is to be
changed in volatile memory. See below for details.
is the parameter ID, can be written in
hexadecimal or decimal format. See below for details.
is the value to which the given
parameter of the given item is set

Response:

none

Troubleshooting: Illegal item identifier, wrong parameter ID, value out of
range
Notes:

With the E-861, you can write only one single
parameter per SPA command.

The GEMAC parameters with the IDs 0x7000015,
0x7000016, 0x700001C, 0x700001D, 0x7000001E
and 0x700001F are write-protected and cannot be
changed with SPA, even though the E-861 will send
no error message if you try to change those
parameters anyway.
Available item
IDs and
parameter IDs:

An item is an axis / a PiezoWalk channel, the
identifier is always 1. See "Accessible Items and Their
Identifiers" (p. 53) for more information.
Valid parameter IDs are given in "Controller
Parameters" (p. 35).

Example 1:

Send: SPA 1 0x1 100
Note: Set the P-term of the servo-loop for axis 1 to
100, parameter ID written in hexadecimal format
Send: SPA 1 1 150
Note: Sets the P-term of the servo-loop for axis 1 to
150, parameter ID written in decimal format

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Example 2:

The P, I and D values of the servo algorithm must be
adapted to a new load applied to the connected
mechanics.
Send: SPA 1 0x1 150
Note: The P-term is set to 150 for axis 1. The setting
is made in volatile memory only.
Now set the I- and D-terms in volatile memory using
SPA and then test the functioning of the system. If the
closed-loop system performance proves satisfactory
and you want to use this system configuration after
the next power-on, save the parameter settings from
volatile to non-volatile memory.
Send: WPA 100
Note: This command saves the values of all
parameters whose password is 100 (see the list in
"Controller Parameters" (p. 35)), since WPA is used
without specifying any parameter.

Example 3:

Send: SEP 100 1 0xA 20
Note: The maximum value of the closed-loop
velocity is to be set to 20 mm/s for axis 1. The setting
is made in non-volatile memory and hence is the new
power-on default, but is not yet active. To use the new
settings immediately, you now have to load them to
volatile memory (otherwise they would become active
after the next power-on or reboot of the controller).
Send: RPA
Note: The new configuration is now active.
Send: SPA? 1 0xA
Receive:

1 0xA=20.00000

Note: Check the parameter settings in volatile
memory.

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SPA? (Get Volatile Memory Parameters)
Description:
Get the value of a parameter of a given item from
volatile memory (RAM).
With HPA? (p. 138) you can obtain a list of the
available parameters and their IDs.
Format:

SPA? [{ }]

Arguments:

is the item for which a parameter is to be
queried in volatile memory. See below for details.
is the parameter ID, can be written in
hexadecimal or decimal format. See below for details.

Response:

{ "=" LF}
where
is the value of the given parameter for
the given item

Troubleshooting: Illegal item identifier, wrong parameter ID
Notes:

With the E-861, you can query either all parameters
or one single parameter per SPA? command.

Available item
IDs and
parameter IDs:

SRG? (Query Status Register Value)
Description: Returns register values for queried axes and register
numbers.
Format:

SRG? { }

Arguments:

: is one axis of the controller
: is the ID of the specified register, see
below for available registers

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Response:

{"=" LF}
where
is the value of the register, see below for details

Note:

This command is identical in function to #4 (p. 114) which should be
preferred when the controller is performing time-consuming tasks.
Note that this command might deliver no response as long as the
controller performs a motion with the PiezoWalk Driving mode
parameter 0x7001A00 set to 1, i.e. if automatic alternating of motion
modes is activated and being performed.
can be 1

Possible
register IDs
and response is the bit-mapped answer and returned as the sum of the
individual codes, in hexadecimal format:
values:
Bit
Description

15
On
Target

Bit
7
Descrip- Digital
tion
Input 4

Example:

www.pi.ws

Send:
Receive
Note:

14
13
Is referen- Is
cing
moving

6
Digital
Input 3

5
Digital
Input 2

12
Servo
On

4
Digital
Input 1

3
-

11
10
9
8
Transitions between motion
and servo modes:
Analog = 0
Relaxing = 1
Go to analog = 2
Relaxed = 3
In motion = 4
Go to motion = 5
See "Modes of Operation"
(p. 54) for details.
2
1
Positive RefeLimit
rence

0
Negative
Limit

SRG? 1 1
1 1=0x9405
The response is given in hexadecimal format.
It means that the axis is on target, the servo is on,
the axis is ready for closed-loop motion
(In motion state),
the states of the digital input lines 1 to 4 are low,
and the stage is on the positive side of the reference
switch (limits are not active, note that the logic of the
signals is inverted in this example)

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SSA (Set Step Amplitude)
Description:
Set the voltage amplitude for nanostepping motion of
given PiezoWalk channel. See below for details.
Format:

SSA { }

Arguments:

is one PiezoWalk channel
is the voltage amplitude for nanostepping
motion, see below for details.

Response:

none

Troubleshooting: Illegal PiezoWalk channel identifier
Notes:

With the E-861, gives the feed voltage
amplitude which can be 0 to 55 V for NEXACT® linear
drives.
SSA changes the value of the Bending Voltage
parameter (ID 0x07000003) in volatile memory (can
be saved as power-on default with WPA (p. 190), can
also be changed with SPA (p. 175) and SEP (p. 173)).
The SSA setting takes effect for nanostepping motion
in open-loop operation (servo off). Decreasing the
step size will decrease the velocity for open-loop
nanostepping motion. The velocity for open-loop
nanostepping motion is also influenced by the openloop velocity set with OVL (p. 165).
SSA can be used while the PiezoWalk channel is
moving.

SSA? (Get Step Amplitude)
Description:
Get the current value of the voltage amplitude used for
nanostepping motion. See SSA (p. 180) for details
about the motion affected by the current voltage
amplitude setting.
If all arguments are omitted, gets current values of all
PiezoWalk channels.

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Format:

SSA? [{}]

Arguments:

is one PiezoWalk channel

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Response:

{"=" LF}
where
is the current active voltage amplitude in V.

STE (Start Step And Response Measurement)
Description:
Starts performing a step and recording the step
response for the given axis.
The data recorder configuration, i.e. the assignment
of data sources and record options to the recorder
tables, can be set with DRC (p. 122).
The recorded data can be read with the DRR?
(p. 124) command.
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.
Format:

STE

Arguments

is one axis of the controller
is the height of the step. See below for
details.

Response:

none

Troubleshooting: The control value resulting from the specified step
height is out of limits. Use TMN? (p. 186) and TMX?
(p. 187) to ask for the current valid travel range limits
for closed-loop operation.
Motion commands like STE are not allowed when the
joystick is active for the axis. See "Joystick Control"
(p. 79) for details.

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Notes:

Step response measurements provide meaningful
results only in closed-loop operation.
A "step" consists of a relative move of the specified
amplitude which is performed relative to the current
position. The axis must not be referenced before a
measurement is performed.

STP (Stop All Axes)
Description:
Stops all motion abruptly. For details see the notes
below.
Sets error code to 10.
This command is identical in function to #24 (p. 117)
which should be preferred when the controller is
performing time-consuming tasks.
Format:

STP

Arguments:

none

Response:

none

Troubleshooting:

Communication breakdown

Notes:

STP stops all motion caused by move commands
(MOV (p. 151), MVR (p. 153), OAD (p. 155), OMA
(p. 158), OMR (p. 161), OSM (p. 163), STE (p.
181)), referencing commands (FNL (p. 129), FPL
(p. 131), FRF (p. 133)) and macros (MAC (p. 146)).
After the axes are stopped, if servo is on, their target
positions are set to their current positions.
HLT (p. 137) in contrast to STP stops motion with
given system deceleration with regard to system
inertia.

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SVO (Set Servo State)
Description:
Sets servo-control state for given axes (open-loop or
closed-loop operation).
Format:

SVO { }

Arguments:

is one axis of the controller
can have the following values:
0 = servo off (open-loop operation)
1 = servo on (closed-loop operation)

Response:

none

Troubleshooting:

Illegal axis identifier
Caution: Do not use this command if no
sensor is present in your system.
Otherwise the connected mechanics can
run into the hardstop at full speed which
may cause damage to your hardware
setup.

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Notes:

Switching the servo on includes preparation of a
"relaxed" NEXACT® linear drive for closed-loop
motion.
This action can take up to four times the slewrate
value (parameter ID 0x7000002).
After open-loop analog motion was done with OAD,
an RNP (p. 168) command must be sent first before
servo can be switched on with SVO.
See "Changing Motion and Servo Mode" (p. 59) and
"Example for Commanding Motion" (p. 20) for
details.
When switching from open-loop to closed-loop
operation, the target is set to the current position to
avoid jumps of the mechanics.
Switching the servo off includes an automatic
Relaxing procedure which brings the NEXACT®
linear drive to a full-holding-force, zero-drive-voltage
Relaxed state.
This action can take up to four times the slewrate
value (parameter ID 0x7000002).
When servo is switched off while the axis is moving,
the axis stops. Exception: While the axis is under
joystick control (a joystick connected to the E-861 is
enabled with the JON command (p. 145)), motion
will continue when the servo is switched on or off for
the axis.
The current servo state affects the applicable move
commands:
servo-control off: use OSM (p. 163), OMA (p. 158),
OMR (p. 161) and OAD (p. 155)
servo-control on: use MOV (p. 151) and MVR
(p. 153).
Using a startup macro, you can configure the
controller so that servo is automatically switched on
upon power-on or reboot.
See "Start-Up Macro" (p. 84) for details.

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SVO? (Get Servo State)
Description:
Gets servo-control state of given axes.
If all arguments are omitted, gets status of all axes.
Format:

SVO? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the current servo state of the axis:
0 = servo off (open-loop operation)
1 = servo on (closed-loop operation)

Troubleshooting: Illegal axis identifier

TAC? (Tell Analog Channels)
Description:
Get the number of installed analog lines.
Format:

TAC?

Parameter:

none

Response:

gives the total number of analog lines.

Notes:

Gets the number of analog input lines located on the
I/O socket (p. 218) of the E-861 (Input 1 to Input 4).
Note that these lines can also be used for digital input.
See "Accessible Items and Their Identifiers" (p. 53) for
more information.

TAV? (Get Analog Input Voltage)
Description:
Get voltage at analog input.

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Format:

TAV? [{}]

Arguments:

is the identifier of the analog input
channel, see below for details

Response:

is the current voltage at the analog input in
volts

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Notes:

Using the TAV? command, you can directly read the
Input 1 to Input 4 lines on the I/O socket (p. 218) of
the E-861. The identifiers of the lines are 1 to 4. See
"Accessible Items and Their Identifiers" (p. 53) for
more information.
You can record the values of the analog input lines
using the DRC record option 81 (p. 122).

TIO? (Tell Digital I/O Lines)
Description:
Tell number of installed digital I/O lines
Format:

TIO?

Arguments:

none

Response:

I=
O=
where
is the number of digital input lines.
is the number of digital output lines.

Notes:

The digital output lines reported by TIO? are Output 1
to Output 4. They can be set with DIO (p. 121).
The digital input lines reported by TIO? are Input 1 to
Input 4. The can be read with DIO? (p. 121), #4
(p. 114) and SRG? (p. 178).
All the lines are located on the I/O socket (p. 218) of
the E-861.

TMN? (Get Minimum Commandable Position)
Description:
Get the minimum commandable position in physical
units.
Format:
TMN? [{ }]
Arguments:

www.pi.ws

is one axis of the controller

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GCS Commands

Response:

{"=" LF}
where
is the minimum commandable position in
physical units

Note:

The minimum commandable position is defined by the
MAX_TRAVEL_RANGE_NEG parameter, ID 0x30.

TMX? (Get Maximum Commandable Position)
Description:
Get the maximum commandable position in physical
units.
Format:

TMX? [{ }]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where
is the maximum commandable position in
physical units

Note:

The maximum commandable position is defined by
the MAX_TRAVEL_RANGE_POS parameter, ID
0x15.

TNR? (Get Number of Record Tables)
Description:
Get the number of data recorder tables currently
available on the controller.

www.pi.ws

Format:

TNR?

Arguments:

none

Response :

is the number of data recorder tables which are
currently available

Notes:

The E-861 has 2 data recorder tables with 1024 data
points per table.
For more information see "Data Recording" (p. 88).

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GCS Commands

TRS? (Indicate Reference Switch)
Description:
Indicates whether axes have a reference sensor with
direction sensing.
Format:

TRS? [{}]

Arguments:

: is one axis of the controller

Response:

{"=" LF}
where
indicates whether the axis has a directionsensing reference sensor (=1) or not (=0).

Troubleshooting: Illegal axis identifier
Notes:

The E-861 firmware detects the presence or absence
of a reference switch using a controller parameter (ID
0x14).
According to the value of this parameter, the E-861
enables or disables reference moves to the reference
switch (FRF command (p. 133)).
Adapt the parameter value to your hardware using
SPA (p. 175) or SEP (p. 173).
See "Controller Parameters" (p. 35) for more
information.

VEL (Set Closed-Loop Velocity)
Description:
Set velocity of given axes.
VEL can be changed while the axis is moving.
Format:

VEL { }

Arguments:

is one axis of the controller
is the velocity value in physical units/s.

Response:

none

Troubleshooting: Illegal axis identifiers
Notes:

The VEL setting only takes effect when the given axis
is in closed-loop operation (servo on).
The lowest possible value for is 0.
VEL changes the values of the Current closed-loop

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GCS Commands

velocity parameter (ID 0x49) in volatile memory (can
also be changed with SPA (p. 175) and SEP (p. 173)).
The maximum value which can be set with the VEL
command is given by the Maximum closed-loop
velocity parameter, ID 0xA (can be changed with SPA
(p. 175) and SEP (p. 173)).
On power-on, the current closed-loop velocity is set
by the Current closed-loop velocity parameter, ID
0x7000201.
VEL? (Get Closed-Loop Velocity)
Description:
Get the current velocity value.
If all arguments are omitted, gets current value of all
axes.
Format:

VEL? [{}]

Arguments:

is one axis of the controller

Response:

{"=" LF}
where

Notes:

is the current active velocity value in
physical units / s.
VEL? queries the current value of the closed-loop
velocity. The open-loop velocity can be queried with
the OVL? command (p. 166).

WAC (Wait For Condition)
Description:
Wait until a given condition of the following type
occurs: a specified value is compared with a queried
value according a specified rule.
Can only be used in macros.
See also MEX (p. 149).
Format:

www.pi.ws

WAC

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Arguments:

is one questioning command in its usual
syntax. The answer must consist of a single value. For
an example see below.
is the operator to be used. The following
operators are possible:
= <= < > >= !=
is the value to be compared with the
response of

Response:

none

Example:

Send: MAC BEG AMC028
MVR 1 1
WAC ONT? 1 = 1
MVR 1 -1
WAC ONT? 1 = 1
MAC START AMC028
MAC END
MAC START AMC028
Note: Macro AMC028 is recorded and then started.
WAC ONT? 1 = 1 waits until the answer to ONT? 1 is
1=1. To form an infinite loop, the macro calls itself.

WPA (Save Parameters To Non-Volatile Memory)
Description:
Write the currently valid value of a parameter of a
given item from volatile memory (RAM) to non-volatile
memory. The values saved this way become the
power-on defaults.
Caution: If current parameter values are
incorrect, the system may malfunction. Be
sure that you have the correct parameter
settings before using the WPA command.
RAM settings not saved with WPA will be lost when
the controller is powered down or rebooted or when
RPA (p. 171) is used to restore the parameters.
With HPA? (p. 138) you can obtain a list of all
available parameters.

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GCS Commands

Use SPA? (p. 175) to check the current parameter
settings in volatile memory.
See SPA (p. 175) for an example.
Format:

WPA [{ }]

Arguments:

is the password for writing to non-volatile
memory. See below for details.
is the item for which parameters are to be
saved from volatile to non-volatile memory. See below
for details.
is the parameter ID, can be written in
hexadecimal or decimal format. See below for details.

Response:

none

Troubleshooting: Illegal item identifier, wrong parameter ID, invalid
password
Notes:
Parameters can be changed in volatile memory with
SPA (p. 175) and SSA (p. 180).
When WPA is used without specifying any arguments
except of the password, the currently valid values of
all parameters affected by the specified password are
saved. Otherwise only one single parameter can be
saved per WPA command.
Warning: The number of write cycles of
non-volatile memory is limited. Write
default values only when necessary.
Valid passwords: The password for writing to non-volatile memory
depends on the parameter and can be "100" or
"4711". See the parameter list in "Controller
Parameters" (p. 35) for the password assignment.
Available item
IDs and
parameter IDs:

An item is an axis / a PiezoWalk channel, the
identifier is always 1. See "Accessible Items and Their
Identifiers" (p. 53) for more information.
Valid parameter IDs are given in "Controller
Parameters" (p. 35).

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10.4 Error Codes
The error codes listed here are those of the PI General Command Set. As
such, some may be not relevant to your controller and will simply never
occur.
Controller Errors
0

PI_CNTR_NO_ERROR

No error

PI_CNTR_PARAM_SYNTAX

PI_CNTR_UNKNOWN_COMMAND

Unknown command

PI_CNTR_COMMAND_TOO_LONG

Command length out of limits
or command buffer overrun

PI_CNTR_SCAN_ERROR

Parameter syntax error

Error while scanning

PI_CNTR_MOVE_WITHOUT_REF_OR_NO_SERVO

Unallowable move attempted
on unreferenced axis, or
move attempted with servo
off

PI_CNTR_INVALID_SGA_PARAM

Parameter for SGA not valid

PI_CNTR_POS_OUT_OF_LIMITS

Position out of limits

PI_CNTR_VEL_OUT_OF_LIMITS

Velocity out of limits

PI_CNTR_SET_PIVOT_NOT_POSSIBLE

Attempt to set pivot point
while U,V and W not all 0

PI_CNTR_STOP

Controller was stopped by
command

PI_CNTR_SST_OR_SCAN_RANGE

PI_CNTR_INVALID_SCAN_AXES

Invalid axis combination for
fast scan

PI_CNTR_INVALID_NAV_PARAM

Parameter for NAV out of
range

PI_CNTR_INVALID_ANALOG_INPUT

PI_CNTR_INVALID_AXIS_IDENTIFIER

PI_CNTR_INVALID_STAGE_NAME

PI_CNTR_PARAM_OUT_OF_RANGE

PI_CNTR_INVALID_MACRO_NAME

PI_CNTR_MACRO_RECORD

PI_CNTR_MACRO_NOT_FOUND

Macro not found

PI_CNTR_AXIS_HAS_NO_BRAKE

Axis has no brake

PI_CNTR_DOUBLE_AXIS

Axis identifier specified more
than once

PI_CNTR_ILLEGAL_AXIS

Illegal axis

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E-861 PZ205E Release 1.2.1

Parameter for SST or for one
of the embedded scan
algorithms out of range

Invalid analog channel
Invalid axis identifier
Unknown stage name
Parameter out of range
Invalid macro name
Error while recording macro

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GCS Commands

Incorrect number of
parameters

PI_CNTR_PARAM_NR

PI_CNTR_INVALID_REAL_NR

PI_CNTR_MISSING_PARAM

PI_CNTR_SOFT_LIMIT_OUT_OF_RANGE

Soft limit out of range

PI_CNTR_NO_MANUAL_PAD

No manual pad found

PI_CNTR_NO_JUMP

PI_CNTR_INVALID_JUMP

PI_CNTR_AXIS_HAS_NO_REFERENCE

PI_CNTR_STAGE_HAS_NO_LIM_SWITCH

Axis has no limit switch

PI_CNTR_NO_RELAY_CARD

No relay card installed

PI_CNTR_CMD_NOT_ALLOWED_FOR_STAGE

PI_CNTR_NO_DIGITAL_INPUT

PI_CNTR_NO_DIGITAL_OUTPUT

PI_CNTR_NO_MCM

No more MCM responses

PI_CNTR_INVALID_MCM

No MCM values recorded

PI_CNTR_INVALID_CNTR_NUMBER

Controller number invalid

PI_CNTR_NO_JOYSTICK_CONNECTED

PI_CNTR_INVALID_EGE_AXIS

PI_CNTR_SLAVE_POSITION_OUT_OF_RANGE

PI_CNTR_COMMAND_EGE_SLAVE

PI_CNTR_JOYSTICK_CALIBRATION_FAILED

PI_CNTR_REFERENCING_FAILED

PI_CNTR_OPM_MISSING

OPM (Optical Power Meter)
missing

PI_CNTR_OPM_NOT_INITIALIZED

OPM (Optical Power Meter)
not initialized or cannot be
initialized

PI_CNTR_OPM_COM_ERROR

OPM (Optical Power Meter)
Communication Error

PI_CNTR_MOVE_TO_LIMIT_SWITCH_FAILED

Move to limit switch failed

PI_CNTR_REF_WITH_REF_DISABLED

Attempt to reference axis
with referencing disabled

PI_CNTR_AXIS_UNDER_JOYSTICK_CONTROL

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Invalid floating point number
Parameter missing

No more step-response
values

E-861 PZ205E Release 1.2.1

No step-response values
recorded
Axis has no reference sensor

Command not allowed for
selected stage(s)
No digital input installed
No digital output configured

No joystick configured
Invalid axis for electronic
gearing, axis cannot be slave
Position of slave axis is out
of range
Slave axis cannot be
commanded directly when
electronic gearing is enabled
Calibration of joystick failed
Referencing failed

Selected axis is controlled by
joystick

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GCS Commands

Controller detected
communication error

PI_CNTR_COMMUNICATION_ERROR

PI_CNTR_DYNAMIC_MOVE_IN_PROCESS

PI_CNTR_UNKNOWN_PARAMETER

Unknown parameter

PI_CNTR_NO_REP_RECORDED

No commands were
recorded with REP

PI_CNTR_INVALID_PASSWORD

Password invalid

PI_CNTR_INVALID_RECORDER_CHAN

PI_CNTR_INVALID_RECORDER_SRC_OPT

Source does not exist;
number too low or too high

PI_CNTR_INVALID_RECORDER_SRC_CHAN

Source Record Table
number too low or too high

PI_CNTR_PARAM_PROTECTION

Protected Param: current
Command Level (CCL) too
low

PI_CNTR_AUTOZERO_RUNNING

Command execution not
possible while Autozero is
running

PI_CNTR_NO_LINEAR_AXIS

Autozero requires at least
one linear axis

PI_CNTR_INIT_RUNNING

PI_CNTR_READ_ONLY_PARAMETER

PI_CNTR_PAM_NOT_FOUND

PI_CNTR_VOL_OUT_OF_LIMITS

PI_CNTR_WAVE_TOO_LARGE

Not enough memory
available for requested wave
curve

PI_CNTR_NOT_ENOUGH_DDL_MEMORY

Not enough memory
available for DDL table; DDL
cannot be started

PI_CNTR_DDL_TIME_DELAY_TOO_LARGE

Time delay larger than DDL
table; DDL cannot be started

PI_CNTR_DIFFERENT_ARRAY_LENGTH

The requested arrays have
different lengths; query them
separately

PI_CNTR_GEN_SINGLE_MODE_RESTART

Attempt to restart the
generator while it is running
in single step mode

PI_CNTR_ANALOG_TARGET_ACTIVE

Motion commands and wave
generator activation are not
allowed when analog target
is active

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E-861 PZ205E Release 1.2.1

MOV! motion still in progress

Data Record Table does not
exist

Initialization still in progress
Parameter is read-only
Parameter not found in nonvolatile memory
Voltage out of limits

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GCS Commands

PI_CNTR_WAVE_GENERATOR_ACTIVE

Motion commands are not
allowed when wave
generator is active

PI_CNTR_AUTOZERO_DISABLED

No sensor channel or no
piezo channel connected to
selected axis (sensor and
piezo matrix)

PI_CNTR_NO_WAVE_SELECTED

Generator started (WGO)
without having selected a
wave table (WSL).

PI_CNTR_IF_BUFFER_OVERRUN

Interface buffer did overrun
and command couldn't be
received correctly

PI_CNTR_NOT_ENOUGH_RECORDED_DATA

Data Record Table does not
hold enough recorded data

PI_CNTR_TABLE_DEACTIVATED

PI_CNTR_OPENLOOP_VALUE_SET_WHEN_SERVO_ON

PI_CNTR_RAM_ERROR

PI_CNTR_MACRO_UNKNOWN_COMMAND

PI_CNTR_MACRO_PC_ERROR

PI_CNTR_JOYSTICK_ACTIVE

PI_CNTR_MOTOR_IS_OFF

PI_CNTR_ONLY_IN_MACRO

PI_CNTR_JOYSTICK_UNKNOWN_AXIS

PI_CNTR_JOYSTICK_UNKNOWN_ID

PI_CNTR_REF_MODE_IS_ON

Move without referenced
stage

PI_CNTR_NOT_ALLOWED_IN_CURRENT_MOTION_MODE

Command not allowed in
current motion mode

Data Record Table is not
configured for recording
Open-loop commands (SVA,
SVR) are not allowed when
servo is on
Hardware error affecting
RAM
Not macro command
Macro counter out of range
Joystick is active
Motor is off
Macro-only command
Invalid joystick axis
Joystick unknown

No tracing possible while
digital IOs are used on this
HW revision. Reconnect to
switch operation mode.

PI_CNTR_DIO_AND_TRACING_NOT_POSSIBLE

PI_CNTR_COLLISION

PI_CNTR_SLAVE_NOT_FAST_ENOUGH

Stage is not capable of
following the master. Check
the gear ratio.

100

PI_LABVIEW_ERROR

PI LabVIEW driver reports
error. See source control for
details.

200

PI_CNTR_NO_AXIS

No stage connected to axis

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Move not possible, would
cause collision

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File with axis parameters not
found

201

PI_CNTR_NO_AXIS_PARAM_FILE

202

PI_CNTR_INVALID_AXIS_PARAM_FILE

Invalid axis parameter file

203

PI_CNTR_NO_AXIS_PARAM_BACKUP

Backup file with axis
parameters not found

204

PI_CNTR_RESERVED_204

205

PI_CNTR_SMO_WITH_SERVO_ON

206

PI_CNTR_UUDECODE_INCOMPLETE_HEADER

uudecode: incomplete
header

207

PI_CNTR_UUDECODE_NOTHING_TO_DECODE

uudecode: nothing to decode

208

PI_CNTR_UUDECODE_ILLEGAL_FORMAT

uudecode: illegal UUE format

209

PI_CNTR_CRC32_ERROR

210

PI_CNTR_ILLEGAL_FILENAME

211

PI_CNTR_FILE_NOT_FOUND

212

PI_CNTR_FILE_WRITE_ERROR

Error writing file on controller

213

PI_CNTR_DTR_HINDERS_VELOCITY_CHANGE

VEL command not allowed in
DTR Command Mode

214

PI_CNTR_POSITION_UNKNOWN

215

PI_CNTR_CONN_POSSIBLY_BROKEN

The connection between
controller and stage may be
broken

216

PI_CNTR_ON_LIMIT_SWITCH

The connected stage has
driven into a limit switch,
some controllers need CLR
to resume operation

217

PI_CNTR_UNEXPECTED_STRUT_STOP

Strut test command failed
because of an unexpected
strut stop

218

PI_CNTR_POSITION_BASED_ON_ESTIMATION

While MOV! is running
position can only be
estimated!

219

PI_CNTR_POSITION_BASED_ON_INTERPOLATION

Position was calculated
during MOV motion

230

PI_CNTR_INVALID_HANDLE

Invalid handle

231

PI_CNTR_NO_BIOS_FOUND

No bios found

232

PI_CNTR_SAVE_SYS_CFG_FAILED

Save system configuration
failed

233

PI_CNTR_LOAD_SYS_CFG_FAILED

Load system configuration
failed

301

PI_CNTR_SEND_BUFFER_OVERFLOW

Send buffer overflow

302

PI_CNTR_VOLTAGE_OUT_OF_LIMITS

Voltage out of limits

303

PI_CNTR_OPEN_LOOP_MOTION_SET_WHEN_SERVO_ON

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E-861 PZ205E Release 1.2.1

PI internal error code 204
SMO with servo on

CRC32 error
Illegal file name (must be 8-0
format)
File not found on controller

Position calculations failed

Open-loop motion attempted
when servo ON

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GCS Commands

304

PI_CNTR_RECEIVING_BUFFER_OVERFLOW

Received command is too
long

305

PI_CNTR_EEPROM_ERROR

Error while reading/writing
EEPROM

306

PI_CNTR_I2C_ERROR

307

PI_CNTR_RECEIVING_TIMEOUT

308

PI_CNTR_TIMEOUT

309

PI_CNTR_MACRO_OUT_OF_SPACE

Insufficient space to store
macro

310

PI_CNTR_EUI_OLDVERSION_CFGDATA

Configuration data has old
version number

311

PI_CNTR_EUI_INVALID_CFGDATA

Invalid configuration data

333

PI_CNTR_HARDWARE_ERROR

Internal hardware error

400

PI_CNTR_WAV_INDEX_ERROR

Wave generator index error

401

PI_CNTR_WAV_NOT_DEFINED

Wave table not defined

402

PI_CNTR_WAV_TYPE_NOT_SUPPORTED

Wave type not supported

403

PI_CNTR_WAV_LENGTH_EXCEEDS_LIMIT

Wave length exceeds limit

404

PI_CNTR_WAV_PARAMETER_NR

Wave parameter number
error

405

PI_CNTR_WAV_PARAMETER_OUT_OF_LIMIT

406

PI_CNTR_WGO_BIT_NOT_SUPPORTED

502

PI_CNTR_REDUNDANCY_LIMIT_EXCEEDED

Position consistency check
failed

503

PI_CNTR_COLLISION_SWITCH_ACTIVATED

Hardware collision sensor(s)
are activated

504

PI_CNTR_FOLLOWING_ERROR

555

PI_CNTR_UNKNOWN_ERROR

601

PI_CNTR_NOT_ENOUGH_MEMORY

602

PI_CNTR_HW_VOLTAGE_ERROR

603

PI_CNTR_HW_TEMPERATURE_ERROR

1000

PI_CNTR_TOO_MANY_NESTED_MACROS

1001

PI_CNTR_MACRO_ALREADY_DEFINED

1002

PI_CNTR_NO_MACRO_RECORDING

1003

PI_CNTR_INVALID_MAC_PARAM

Invalid parameter for MAC

1004

PI_CNTR_RESERVED_1004

PI internal error code 1004

www.pi.ws

Error on I2C bus
Timeout while receiving
command
A lengthy operation has not
finished in the expected time

E-861 PZ205E Release 1.2.1

Wave parameter out of range
WGO command bit not
supported

Strut following error
occurred, e.g. caused by
overload or encoder failure
BasMac: unknown controller
error
not enough memory
hardware voltage error
hardware temperature out of
range
Too many nested macros
Macro already defined
Macro recording not
activated

Page 197

GCS Commands

Controller is busy with some
lengthy operation (e.g.
reference move, fast scan
algorithm)

1005

PI_CNTR_CONTROLLER_BUSY

2000

PI_CNTR_ALREADY_HAS_SERIAL_NUMBER

4000

PI_CNTR_SECTOR_ERASE_FAILED

4001

PI_CNTR_FLASH_PROGRAM_FAILED

4002

PI_CNTR_FLASH_READ_FAILED

Flash read failed

4003

PI_CNTR_HW_MATCHCODE_ERROR

HW match code
missing/invalid

4004

PI_CNTR_FW_MATCHCODE_ERROR

FW match code
missing/invalid

4005

PI_CNTR_HW_VERSION_ERROR

HW version missing/invalid

4006

PI_CNTR_FW_VERSION_ERROR

FW version missing/invalid

4007

PI_CNTR_FW_UPDATE_ERROR

FW update failed

5000

PI_CNTR_INVALID_PCC_SCAN_DATA

5001

PI_CNTR_PCC_SCAN_RUNNING

5002

PI_CNTR_INVALID_PCC_AXIS

5003

PI_CNTR_PCC_SCAN_OUT_OF_RANGE

5004

PI_CNTR_PCC_TYPE_NOT_EXISTING

5005

PI_CNTR_PCC_PAM_ERROR

5006

PI_CNTR_PCC_TABLE_ARRAY_TOO_LARGE

5100

PI_CNTR_NEXLINE_ERROR

5101

PI_CNTR_CHANNEL_ALREADY_USED

5102

PI_CNTR_NEXLINE_TABLE_TOO_SMALL

5103

PI_CNTR_RNP_WITH_SERVO_ON

5104

PI_CNTR_RNP_NEEDED

5200

PI_CNTR_AXIS_NOT_CONFIGURED

www.pi.ws

E-861 PZ205E Release 1.2.1

Controller already has a
serial number
Sector erase failed
Flash program failed

PicoCompensation scan data
is not valid
PicoCompensation is
running, some actions
cannot be executed during
scanning/recording
Given axis cannot be defined
as PPC axis
Defined scan area is larger
than the travel range
Given PicoCompensation
type is not defined
PicoCompensation
parameter error
PicoCompensation table is
larger than maximum table
length
Common error in NEXLINE®
firmware module
Output channel for
NEXLINE® cannot be
redefined for other usage
Memory for NEXLINE®
signals is too small
RNP cannot be executed if
axis is in closed loop
Relax procedure (RNP)
needed
Axis must be configured for
this action

Page 198

GCS Commands

Interface Errors
No error occurred during
function call

COM_NO_ERROR

-1

COM_ERROR

Error during com operation
(could not be specified)

-2

SEND_ERROR

Error while sending data

-3

REC_ERROR

Error while receiving data

-4

NOT_CONNECTED_ERROR

Not connected (no port with
given ID open)

-5

COM_BUFFER_OVERFLOW

Buffer overflow

-6

CONNECTION_FAILED

-7

COM_TIMEOUT

-8

COM_MULTILINE_RESPONSE

There are more lines waiting
in buffer

-9

COM_INVALID_ID

There is no interface or DLL
handle with the given ID

-10

COM_NOTIFY_EVENT_ERROR

-11

COM_NOT_IMPLEMENTED

-12

COM_ECHO_ERROR

-13

COM_GPIB_EDVR

IEEE488: System error

-14

COM_GPIB_ECIC

IEEE488: Function requires
GPIB board to be CIC

-15

COM_GPIB_ENOL

IEEE488: Write function
detected no listeners

-16

COM_GPIB_EADR

IEEE488: Interface board not
addressed correctly

-17

COM_GPIB_EARG

IEEE488: Invalid argument to
function call

-18

COM_GPIB_ESAC

IEEE488: Function requires
GPIB board to be SAC

-19

COM_GPIB_EABO

IEEE488: I/O operation
aborted

-20

COM_GPIB_ENEB

IEEE488: Interface board not
found

-21

COM_GPIB_EDMA

IEEE488: Error performing
DMA

www.pi.ws

Error while opening port
Timeout error

Event/message for
notification could not be
opened
Function not supported by
this interface type
Error while sending "echoed"
data

E-861 PZ205E Release 1.2.1

Page 199

GCS Commands

-22

COM_GPIB_EOIP

IEEE488: I/O operation
started before previous
operation completed

-23

COM_GPIB_ECAP

IEEE488: No capability for
intended operation

-24

COM_GPIB_EFSO

IEEE488: File system
operation error

-25

COM_GPIB_EBUS

IEEE488: Command error
during device call

-26

COM_GPIB_ESTB

IEEE488: Serial poll-status
byte lost

-27

COM_GPIB_ESRQ

IEEE488: SRQ remains
asserted

-28

COM_GPIB_ETAB

IEEE488: Return buffer full

-29

COM_GPIB_ELCK

IEEE488: Address or board
locked

-30

COM_RS_INVALID_DATA_BITS

RS-232: 5 data bits with 2
stop bits is an invalid
combination, as is 6, 7, or 8
data bits with 1.5 stop bits

-31

COM_ERROR_RS_SETTINGS

-32

COM_INTERNAL_RESOURCES_ERROR

-33

COM_DLL_FUNC_ERROR

-34

COM_FTDIUSB_INVALID_HANDLE

-35

COM_FTDIUSB_DEVICE_NOT_FOUND

-36

COM_FTDIUSB_DEVICE_NOT_OPENED

-37

COM_FTDIUSB_IO_ERROR

-38

COM_FTDIUSB_INSUFFICIENT_RESOURCES

-39

COM_FTDIUSB_INVALID_PARAMETER

FTDIUSB: invalid parameter

-40

COM_FTDIUSB_INVALID_BAUD_RATE

FTDIUSB: invalid baud rate

-41

COM_FTDIUSB_DEVICE_NOT_OPENED_FOR_ERASE

FTDIUSB: device not opened
for erase

-42

COM_FTDIUSB_DEVICE_NOT_OPENED_FOR_WRITE

FTDIUSB: device not opened
for write

-43

COM_FTDIUSB_FAILED_TO_WRITE_DEVICE

-44

COM_FTDIUSB_EEPROM_READ_FAILED

FTDIUSB: EEPROM read
failed

-45

COM_FTDIUSB_EEPROM_WRITE_FAILED

FTDIUSB: EEPROM write
failed

www.pi.ws

E-861 PZ205E Release 1.2.1

RS-232: Error configuring the
COM port
Error dealing with internal
system resources (events,
threads, ...)
A DLL or one of the required
functions could not be loaded
FTDIUSB: invalid handle
FTDIUSB: device not found
FTDIUSB: device not opened
FTDIUSB: IO error
FTDIUSB: insufficient
resources

FTDIUSB: failed to write
device

Page 200

GCS Commands

-46

COM_FTDIUSB_EEPROM_ERASE_FAILED

FTDIUSB: EEPROM erase
failed

-47

COM_FTDIUSB_EEPROM_NOT_PRESENT

FTDIUSB: EEPROM not
present

-48

COM_FTDIUSB_EEPROM_NOT_PROGRAMMED

FTDIUSB: EEPROM not
programmed

-49

COM_FTDIUSB_INVALID_ARGS

-50

COM_FTDIUSB_NOT_SUPPORTED

-51

COM_FTDIUSB_OTHER_ERROR

-52

COM_PORT_ALREADY_OPEN

-53

COM_PORT_CHECKSUM_ERROR

-54

COM_SOCKET_NOT_READY

-55

COM_SOCKET_PORT_IN_USE

-56

COM_SOCKET_NOT_CONNECTED

-57

COM_SOCKET_TERMINATED

-58

COM_SOCKET_NO_RESPONSE

Can't connect to peer

-59

COM_SOCKET_INTERRUPTED

Operation was interrupted by
a nonblocked signal

-60

COM_PCI_INVALID_ID

-61

COM_PCI_ACCESS_DENIED

FTDIUSB: invalid arguments
FTDIUSB: not supported
FTDIUSB: other error
Error while opening the COM
port: was already open
Checksum error in received
data from COM port
Socket not ready, you should
call the function again
Port is used by another
socket
Socket not connected (or not
valid)
Connection terminated (by
peer)

No device with this ID is
present
Driver could not be opened
(on Vista: run as
administrator!)

DLL Errors
-1001

PI_UNKNOWN_AXIS_IDENTIFIER

-1002

PI_NR_NAV_OUT_OF_RANGE

Number for NAV out of
range--must be in [1,10000]

-1003

PI_INVALID_SGA

Invalid value for SGA--must
be one of 1, 10, 100, 1000

-1004

PI_UNEXPECTED_RESPONSE

Controller sent unexpected
response

PI_NO_MANUAL_PAD

No manual control pad
installed, calls to SMA and
related commands are not
allowed

-1005

www.pi.ws

E-861 PZ205E Release 1.2.1

Unknown axis identifier

Page 201

GCS Commands

-1006

PI_INVALID_MANUAL_PAD_KNOB

Invalid number for manual
control pad knob

-1007

PI_INVALID_MANUAL_PAD_AXIS

Axis not currently controlled
by a manual control pad

-1008

PI_CONTROLLER_BUSY

Controller is busy with some
lengthy operation (e.g.
reference move, fast scan
algorithm)

-1009

PI_THREAD_ERROR

Internal error--could not start
thread

-1010

PI_IN_MACRO_MODE

Controller is (already) in
macro mode--command not
valid in macro mode

-1011

PI_NOT_IN_MACRO_MODE

-1012

PI_MACRO_FILE_ERROR

-1013

PI_NO_MACRO_OR_EMPTY

No macro with given name
on controller, or macro is
empty

-1014

PI_MACRO_EDITOR_ERROR

Internal error in macro editor

Controller not in macro
mode--command not valid
unless macro mode active
Could not open file to write or
read macro

-1015

PI_INVALID_ARGUMENT

One or more arguments
given to function is invalid
(empty string, index out of
range, ...)

-1016

PI_AXIS_ALREADY_EXISTS

Axis identifier is already in
use by a connected stage

-1017

PI_INVALID_AXIS_IDENTIFIER

-1018

PI_COM_ARRAY_ERROR

-1019

PI_COM_ARRAY_RANGE_ERROR

-1020

PI_INVALID_SPA_CMD_ID

-1021

PI_NR_AVG_OUT_OF_RANGE

-1022

PI_WAV_SAMPLES_OUT_OF_RANGE

-1023

PI_WAV_FAILED

-1024

PI_MOTION_ERROR

-1025

PI_RUNNING_MACRO

-1026

PI_PZT_CONFIG_FAILED

www.pi.ws

Invalid axis identifier
Could not access array data
in COM server
Range of array does not fit
the number of parameters
Invalid parameter ID given to
SPA or SPA?
Number for AVG out of
range--must be >0
Incorrect number of samples
given to WAV
Generation of wave failed
Motion error: position error
too large, servo is switched
off automatically
Controller is (already)
running a macro

E-861 PZ205E Release 1.2.1

Configuration of PZT stage
or amplifier failed

Page 202

GCS Commands

Current settings are not valid
for desired configuration

-1027

PI_PZT_CONFIG_INVALID_PARAMS

-1028

PI_UNKNOWN_CHANNEL_IDENTIFIER

Unknown channel identifier

-1029

PI_WAVE_PARAM_FILE_ERROR

Error while reading/writing
wave generator parameter
file

-1030

PI_UNKNOWN_WAVE_SET

-1031

PI_WAVE_EDITOR_FUNC_NOT_LOADED

-1032

PI_USER_CANCELLED

The user cancelled a dialog

-1033

PI_C844_ERROR

Error from C-844 Controller

-1034

PI_DLL_NOT_LOADED

DLL necessary to call
function not loaded, or
function not found in DLL

-1035

PI_PARAMETER_FILE_PROTECTED

The open parameter file is
protected and cannot be
edited

-1036

PI_NO_PARAMETER_FILE_OPENED

There is no parameter file
open

-1037

PI_STAGE_DOES_NOT_EXIST

-1038

PI_PARAMETER_FILE_ALREADY_OPENED

-1039

PI_PARAMETER_FILE_OPEN_ERROR

Could not open parameter
file

-1040

PI_INVALID_CONTROLLER_VERSION

The version of the connected
controller is invalid

-1041

PI_PARAM_SET_ERROR

Parameter could not be set
with SPA--parameter not
defined for this controller!

-1042

PI_NUMBER_OF_POSSIBLE_WAVES_EXCEEDED

The maximum number of
wave definitions has been
exceeded

-1043

PI_NUMBER_OF_POSSIBLE_GENERATORS_EXCEEDED

The maximum number of
wave generators has been
exceeded

-1044

PI_NO_WAVE_FOR_AXIS_DEFINED

-1045

PI_CANT_STOP_OR_START_WAV

-1046

PI_REFERENCE_ERROR

www.pi.ws

E-861 PZ205E Release 1.2.1

Could not find description of
wave form. Maybe WG.INI is
missing?
The WGWaveEditor DLL
function was not found at
startup

Selected stage does not
exist
There is already a parameter
file open. Close it before
opening a new file

No wave defined for
specified axis
Wave output to axis already
stopped/started
Not all axes could be
referenced

Page 203

GCS Commands

Could not find parameter set
required by frequency
relation

-1047

PI_REQUIRED_WAVE_NOT_FOUND

-1048

PI_INVALID_SPP_CMD_ID

Command ID given to SPP
or SPP? is not valid

-1049

PI_STAGE_NAME_ISNT_UNIQUE

A stage name given to CST
is not unique

-1050

PI_FILE_TRANSFER_BEGIN_MISSING

A uuencoded file transferred
did not start with "begin"
followed by the proper
filename

-1051

PI_FILE_TRANSFER_ERROR_TEMP_FILE

Could not create/read file on
host PC

-1052

PI_FILE_TRANSFER_CRC_ERROR

Checksum error when
transferring a file to/from the
controller

-1053

PI_COULDNT_FIND_PISTAGES_DAT

The PiStages.dat database
could not be found. This file
is required to connect a
stage with the CST
command

-1054

PI_NO_WAVE_RUNNING

No wave being output to
specified axis

-1055

PI_INVALID_PASSWORD

Invalid password
Error during communication
with OPM (Optical Power
Meter), maybe no OPM
connected

-1056

PI_OPM_COM_ERROR

-1057

PI_WAVE_EDITOR_WRONG_PARAMNUM

-1058

PI_WAVE_EDITOR_FREQUENCY_OUT_OF_RANGE

WaveEditor: Frequency out
of range

-1059

PI_WAVE_EDITOR_WRONG_IP_VALUE

WaveEditor: Error during
wave creation, incorrect
index for integer parameter

-1060

PI_WAVE_EDITOR_WRONG_DP_VALUE

WaveEditor: Error during
wave creation, incorrect
index for floating point
parameter

-1061

PI_WAVE_EDITOR_WRONG_ITEM_VALUE

WaveEditor: Error during
wave creation, could not
calculate value

-1062

PI_WAVE_EDITOR_MISSING_GRAPH_COMPONENT

www.pi.ws

E-861 PZ205E Release 1.2.1

WaveEditor: Error during
wave creation, incorrect
number of parameters

WaveEditor: Graph display
component not installed

Page 204

GCS Commands

-1063

PI_EXT_PROFILE_UNALLOWED_CMD

User Profile Mode:
Command is not allowed,
check for required
preparatory commands

-1064

PI_EXT_PROFILE_EXPECTING_MOTION_ERROR

User Profile Mode: First
target position in User Profile
is too far from current
position

-1065

PI_EXT_PROFILE_ACTIVE

Controller is (already) in User
Profile Mode

-1066

PI_EXT_PROFILE_INDEX_OUT_OF_RANGE

User Profile Mode: Block or
Data Set index out of allowed
range

-1067

PI_PROFILE_GENERATOR_NO_PROFILE

ProfileGenerator: No profile
has been created yet

-1068

PI_PROFILE_GENERATOR_OUT_OF_LIMITS

ProfileGenerator: Generated
profile exceeds limits of one
or both axes

-1069

PI_PROFILE_GENERATOR_UNKNOWN_PARAMETER

ProfileGenerator: Unknown
parameter ID in Set/Get
Parameter command

-1070

PI_PROFILE_GENERATOR_PAR_OUT_OF_RANGE

ProfileGenerator: Parameter
out of allowed range

-1071

PI_EXT_PROFILE_OUT_OF_MEMORY

User Profile Mode: Out of
memory

-1072

PI_EXT_PROFILE_WRONG_CLUSTER

User Profile Mode: Cluster is
not assigned to this axis

-1073

PI_UNKNOWN_CLUSTER_IDENTIFIER

Unknown cluster identifier

PI_INVALID_DEVICE_DRIVER_VERSION

The installed device driver
doesn't match the required
version. Please see the
documentation to determine
the required device driver
version.

-1075

PI_INVALID_LIBRARY_VERSION

The library used doesn't
match the required version.
Please see the
documentation to determine
the required library version.

-1076

PI_INTERFACE_LOCKED

The interface is currently
locked by another function.
Please try again later.

PI_PARAM_DAT_FILE_INVALID_VERSION

Version of parameter DAT
file does not match the
required version. Current
files are available at
www.pi.ws.

-1074

-1077

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 205

GCS Commands

-1078

PI_CANNOT_WRITE_TO_PARAM_DAT_FILE

Cannot write to parameter
DAT file to store user defined
stage type.

-1079

PI_CANNOT_CREATE_PARAM_DAT_FILE

Cannot create parameter
DAT file to store user defined
stage type.

-1080

PI_PARAM_DAT_FILE_INVALID_REVISION

Parameter DAT file does not
have correct revision.

-1081

PI_USERSTAGES_DAT_FILE_INVALID_REVISION

www.pi.ws

E-861 PZ205E Release 1.2.1

User stages DAT file does
not have correct revision.

Page 206

Troubleshooting

11 Troubleshooting

Communication with controller does not work

Communication cable is wrong or defective
⇒ Check cable. Does it work properly with another device?
For RS-232, a null-modem cable must be used.

The interface is not configured correctly
⇒ With the RS-232 interface, check port and baud rate (depending on your
controller, the baud rate may be set via DIP switches on the front panel or
via a controller parameter).
It is recommended that the host PC have a "genuine" RS-232 interface on
board.
If the host PC uses a USB-to-serial adapter instead, data loss could occur
during communication, especially when transferring large amounts of data.
⇒ The USB drivers will make the USB interface appear to all software on
the host PC as a new COM port. That port will be present only when the
controller is connected via USB and powered on.
⇒ All controllers in a daisy chain network must be set to the same baud
rate.
⇒ Up to 16 E-861 controllers can be controlled from a single host computer
interface. The RS-232 output stages of some PCs may not be capable of
driving more than 6 units; if this is a problem use USB to interface with the
PC.
⇒ The RS-232 cable must never be connected to a PC at the same time an
USB cable is connected.

Another program is using the interface
⇒ Close the other program.

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 207

Troubleshooting

Specific software has problems
⇒ See if the system works with some other software, e.g. a terminal or
development environment. You can, for example, test the communication
by simply starting a terminal program, e.g. PI Terminal, and entering
commands like *IDN? or HLP?. Note that multi-character commands are
transferred as terminated by a LF (line feed) character and are executed
only after the LF is received.

Stage does not move

Cable not connected properly
⇒ Check the connecting cable(s)

Stage or stage cable is defective
⇒ Exchange stage with a working stage to test a new combination of
controller and stage:
With E-7xx controllers, this is only possible with stages which are equipped
with ID-chips.
With E-861 controllers, the encoder hardware of closed-loop systems must
be identical or the parameters of the GEMAC interpolation circuit must be
adapted, see "GEMAC Parameters" (p. 105) for more information.

Controller address wrong or missing
⇒ Check the current controller address (see "DIP Switch Settings").
⇒ In principle, the address of the target controller is required in every
command line, even when recording macros or sending single-character
commands. It can only be omitted if the target E-861 has the address 1.
See "Target and Sender Address" (p. 110) for more information.
⇒ In a daisy-chain, connected via USB or via RS-232, there must be one
controller with address 1. It is not required that this controller is directly
connected to the host PC, i.e. this controller does not have to be the first
controller of the daisy-chain.

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 208

Troubleshooting

If there is no controller in a daisy-chain with address 1 an error message
occurs when you try to setup a connection.

Wrong command or wrong syntax
⇒ Check the error code with the ERR? command (p. 127). "Error Codes"
(p. 192) gives the complete error reference.

Wrong axis commanded
⇒ Check if the correct axis identifier is used and if the commanded axis is
that of the desired stage (axis identifier also required with single-axis
systems!)

Wrong controller parameter settings
⇒ Check the parameter settings with SPA? (p. 178) and SEP? (p. 174).
See "Controller Parameters" (p. 35) for more information.

Custom software accessing PI drivers does not run.
Wrong combination of driver routines/VIs
⇒ Check if system runs with Terminal program. If yes read the software
manual and compare sample code from the E-861 CD to check the
necessary driver routines.

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 209

Customer Service

12 Customer Service
Call your PI representative or write to info@pi.ws; please have the following
information about your system ready:

www.pi.ws

■

Product codes and serial numbers of all products in the system

■

Current firmware version of the controller (if present)

■

Version of drivers and / or host software (if present)

■

Operating system on host PC (if present)

E-861 PZ205E Release 1.2.1

Page 210

Old Equipment Disposal

13 Old Equipment Disposal
In accordance with EU directive 2002 / 96 / EC (WEEE), as of 13 August
2005, electrical and electronic equipment may not be disposed of in the
member states of the EU mixed with other wastes.
To meet the manufacturer’s product responsibility with regard to this
product, Physik Instrumente (PI) GmbH & Co. KG will ensure
environmentally correct disposal of old PI equipment that was first put into
circulation after 13 August 2005, free of charge.
If you have such old equipment from PI, you can send it to the following
address postage-free:
Physik Instrumente (PI) GmbH & Co. KG
Auf der Römerstr. 1
76228 Karlsruhe, Germany

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 211

Technical Data

14 Technical Data
14.1 Specifications
E-861.1A1
Function

Controller for NEXACT® drives / systems

Drive type

NEXACT® linear drive

Channels

Motion and control
Servo characteristics

P-I-D- amplifier, parameter change on-the-fly

Trajectory profile modes

Trapezoidal

Encoder input

Analog encoder input sine-cosine,
interpolation circuit preset for differential transmission,
1 Vpp and 2.5 V offset of the encoder signal

Stall detection

Servo off, triggered by programmable position error

Input limit switch

2 x TTL (pull-up/pull-down, programmable)

Input reference switch

1 x TTL

Electrical properties
Output power

max. 40 W

Output voltage

-10 to +45 V

Current consumption

max. 2 A

Interfaces and operation

www.pi.ws

Communication interfaces

USB 1.0, RS-232 (9-pin (m) Sub-D)

Motor connector

Sub-D 15-pin (f) High Density

Sensor connector

Sub-D 15-pin (m) High Density

Controller network

Up to 16 units on single interface

I/O ports

4 analog/digital in, 4 digital out (TTL)

Command set

PI General Command Set (GCS)

User software

PIMikroMove, PI Terminal

Software drivers

GCS-DLL, LabVIEW drivers

Supported functionality

Start-up macro; data recorder for categories like current

E-861 PZ205E Release 1.2.1

Page 212

Technical Data

position or velocity; internal safety circuitry: watchdog
timer
Manual control (optional)

Joystick, Y-cable for 2D motion, pushbutton box

Miscellaneous

www.pi.ws

Operating voltage

24 V
included: external power supply, 24 V, 2.5 A

Operating temperature range

0°C to +50°C

Mass

1.1 kg

Dimensions

206 x 130 x 66 mm (with mounting rails)

E-861 PZ205E Release 1.2.1

Page 213

Technical Data

14.2

Mounting Hole Pattern
Dimensions in millimeters, decimal places separated by commas

Figure 20: Bottom side of the E-861 case

www.pi.ws

E-861 PZ205E Release 1.2.1

Page 214

Technical Data

14.3

Pin Assignments

14.3.1 Motor Socket

Connector type: Sub-D 15 (f), 3 row
Pin

Signal
direction

Function

OUT

Piezo 1

OUT

Piezo 3

int. use

internal use

OUT

Piezo 0

OUT

Piezo 2

AMP (amplifier
enable)*

AGND

Piezo GND

AGND

Piezo GND

AGND

Piezo GND

GND

Digital GND

GND

Digital GND

*This pin is connected to GND in the connector shell of the NEXACT® drive
to enable the amplifiers. If this connection is removed, all piezo voltages will
be zero.

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Technical Data

14.3.2 Sensor Socket

Connector type: Sub-D 15 (m), 3 row
Pin

Signal
direction

Function

REF (reference switch)

OUT

VDD (supply voltage encoder)

REFP (positive reference trace
from ruler*)

COSP (positive cosine encoder
signal)

SINP (positive sine encoder
signal)

PLIMIT (positive limit switch)

NLIMIT (negative limit switch)

REFN (negative reference trace
from ruler*)

COSN (negative cosine encoder
signal)

SINN (negative sine encoder
signal)

int. use

internal use

OUT

VDD (supply voltage limit board)

GND

Digital GND for reference and
limit switches

AGND

Encoder signal GND

AGND

Encoder signal GND

* For the operation of the controller in closed-loop mode these signals are
not obligatory.

14.3.3 RS-232 In and RS-232 Out Sockets

Connector Labels:
Connector Types:

RS-232 IN and RS-232 OUT
Sub-D, 9-pin, male for OUT, female for IN

The RS-232 cable must never be connected to a PC at the same time an
USB cable is connected.
The IN and OUT lines are permanently bussed together, straight-through.
Only when the USB interface is active, does the controller assert signals on

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Technical Data

the RxD (receive) line, pin 2, otherwise that line is driven by the host PC
only. This is the reason an RS-232-only network may be limited to as few
as 6 units.
Note that the controller RS-232 bus is wired as a DTE and, if connected to
a PC, requires a cross-over (null-modem) cable.
Pin on all E-861 Signal name
Connectors
on all E-861
Connectors*
1
2

RxD*

TxD*

4
5
6
7
8
9

Signal
direction

PC to
controller**
Controller** to
PC

GND

Function

n.c.
Commands
Reports (responses)
n.c.
GND
n.c.
n.c.
n.c.
n.c.

*The RS-232 connection with the PC is via null-modem cable, so the
connected signal names on the PC side are reversed.
** If the PC connection is via USB, then the E-861 connected to the PC
copies everything received from the host over USB to the E-861 RxD line of
both its RS-232 connectors. It also copies everything it sees on the E-861
TxD line to the host via USB.

14.3.4 USB Socket

Connector type: industry-standard USB Mini-B
When the USB interface is active, the controller asserts signals on the
transmit line (TxD) of the RS-232 connectors for networking up to 15 further
controllers. As a result the RS-232 cable must not be connected to the host
PC when using USB.

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Technical Data

14.3.5 I/O Socket

Connector type: Mini DIN 9-pin

Signal

Function

Identifier to use
in GCS
Commands
(see below)

input

Input 1 (analog: 0 to +5V /
digital: TTL)
Input 2 (analog: 0 to +5V /
digital: TTL)

input

Input 3 (analog: 0 to +5V /
digital: TTL)

input

Input 4 (analog: 0 to +5V /
digital: TTL)

output

Output 1 (digital, TTL)

output

Output 2 (digital, TTL)

output

Output 3 (digital, TTL)

output

Output 4 (digital, TTL)

output

Vcc (+5V)

If the Input 1 to Input 4 lines are used as analog input lines:
Their number is reported by the TAC? command (p. 185), their analog input
values can be queried with the TAV? command (p. 185) and recorded
using the record option 81 of the DRC command (p. 122).
If the Input 1 to Input 4 lines are used as digital input lines:
Their states (high/low) can be queried with the DIO? command (p. 121), the
#4 command (p. 114) and the SRG? command (p. 178).
The states of the Output 1 to Output 4 lines (high/low) can be set using the
DIO command (p. 121). Furthermore, you can program the Output 1 to

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Technical Data

Output 4 lines using the CTO command (trigger configuration) and the TRO
command (trigger enabling/disabling). See "Configuring Trigger Output—
Examples" for examples.

14.3.6 C-170.IO Cable

The C-170.IO cable with open end is equipped with a Mini DIN 9-pin
connector. You can use it to make the signals of the I/O socket (p. 218)
available. This cable has to be ordered separately.

Specifications:
Temperature range: -25 °C to +85 °C
Current rating: 1 A AC/DC
Insulation resistance: 50 MΩ min.
Voltage rating:
50 V AC/DC
Withstanding voltage: 500 V AC for 1 minute

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Pin of Mini Wire Color
DIN 9-pin

Signal on I/O Socket of E-861

Black

White

Input 1 (analog: 0 to +5V / digital:
TTL)
Input 2 (analog: 0 to +5V / digital:
TTL)

Red

Input 3 (analog: 0 to +5V / digital:
TTL)

Yellow

Input 4 (analog: 0 to +5V / digital:
TTL)

Purple

Output 1 (digital, TTL)

Blue

Output 2 (digital, TTL)

Green

Output 3 (digital, TTL)

Brown

Output 4 (digital, TTL)

E-861 PZ205E Release 1.2.1

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Technical Data

Pin of Mini Wire Color
DIN 9-pin

Signal on I/O Socket of E-861

Gray

Vcc (+5V)

Shell

Shield, black
coated (thicker
than the black wire
connected to pin
1)

14.3.7 Joystick Socket

Connector type: Mini DIN 6-pin
Pin

Signal
direction

1
2
3

output

input

5
6

input

Function

Identifier to use
in GCS Commands
(see below)

GND
n.c.
Vcc (3.3 V)

Input: Joystick
Axis analog 0 to
3.3 V

n.c.

1 for JAS? (p. 138),
JAX (p. 139),
JAX? (p. 140),
JDT (p. 141),
JLT (p. 142),
JLT? (p. 143)
5 for DRC (p. 122)
-

Input: Joystick
Button #1

1 for JBS? (p. 140)
6 for DRC

The input values of the joystick axis and the joystick button can be recorded
using the record option 81 of the DRC command.

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Technical Data

14.3.8 Joystick Y-Cable

The joystick Y-cable (C-819.20Y) maps the signals of the second joystick
axis (Y) and button to the first-axis inputs for the second controller.
Joystick
Pin

Signal

Controller 1
Pin

Controller 2
Pin

1
2
3
4
5
6

GND
Button 2, 0 or 3.3 V
Vcc (3.3 V)
X-axis signal, 0 to 3.3 V
Y-axis signal, 0 to 3.3 V
Button 1, 0 or 3.3 V

1
6
Vcc (3.3 V)

output
4

4
6

14.3.9 24 V DC Socket

Connector type: barrel connector

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Function

Center

+24 VDC

E-861 PZ205E Release 1.2.1

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15 Index
2
24 V DC Socket - 26, 221

A
Accessible Items and Their Identifiers 51, 53, 79, 107, 108, 139, 140, 141,
142, 145, 171, 172, 174, 175, 176, 178,
185, 186, 191
Additional Components - 9
Address Settings - 29
Adjustment for Custom Sensor - 12, 90,
99
Adjustment for Custom Sensor Using
Custom Interpolation Board - 99, 100
Application Notes - 67

B
Basic Elements - 51
Baud Rate Settings - 28

C
C-170.IO Cable - 219
Changing Motion and Servo Mode - 21,
59, 64, 156, 160, 162, 169, 184
Command Reference (alphabetical) 114
Command Survey - 111
Connecting Controller or Daisy-Chain
Network to Host PC - 15, 27, 51
Control Algorithm - 55, 76
Control Basics - 17, 68
Control Value Generation - 55, 68, 71
Controller - 207
Controller Parameters - 17, 34, 35, 52,
77, 91, 92, 119, 128, 138, 146, 171,
174, 175, 176, 177, 178, 188, 191, 209
Custom Sensor Using GEMAC
Interpolation Board - 99, 106
Customer Service - 210
Customizing the System - 12, 17, 35, 37,
52, 89

D
Data Recording - 52, 54, 88, 123, 124,
126, 172, 187
Default-Stage-N Parameter Settings 12, 36, 49
Defining Macros - 82, 148

Details of Operation - 23
DIP Switch Settings - 24

E
Error Codes - 127, 192, 209
Example for Commanding Motion - 20,
156, 159, 162, 165, 169, 184

F
Firmware Updates - 32
First Steps - 12
Format - 107
Front and Rear Panel Elements - 23
Front Panel Elements - 23

G
GCS Commands - 52, 107
GCS Syntax - 107
GEMAC Parameters - 12, 35, 36, 91, 99,
105, 106, 174, 175, 208
Getting Started - 12, 20, 37, 98, 102

H
How to Create a New Stage Type in the
PI Stages Database - 13, 35, 37, 77,
90, 98
How to Store Parameter Settings - 12,
35, 36, 37, 77, 90, 100, 105, 106

I
I/O Socket - 9, 23, 31, 53, 121, 122, 123,
150, 185, 186, 218, 219
Installing the Software on the Host PC 14, 17, 27, 37
Introduction - 4

J
Joystick Control - 20, 54, 71, 72, 79, 84,
129, 145, 148, 151, 153, 156, 160, 162,
165, 181
Joystick Socket - 23, 53, 54, 79, 123,
139, 140, 141, 142, 145, 220
Joystick Y-Cable - 221

M
Modes of Operation - 21, 46, 54, 115,
156, 159, 162, 165, 169, 179
Motion Error Handling - 77
Motion Modes - 21, 56, 69, 71

Motion System Requirements - 9
Motor Socket - 26, 215
Mounting Hole Pattern - 26, 214

N
Notation - 107

O
Old Equipment Disposal - 211

P
Parameter List - 41, 105
Parameters for Customizing - 35, 55, 90
Perform a Reference Move - 29, 30
PiezoWalk Driving Mode - 55, 63
Pin Assignments - 215
Preparing for Stand-Alone Preparation 20, 85
Prescribed Use - 5

R
Rear Panel Elements - 26
Reference Mode - 29
Referencing - 18, 29, 71, 92, 130, 131,
133, 166, 170
Requirements for Closed-Loop
Operation and Custom Systems - 12
RS-232 In and RS-232 Out Sockets - 23,
216

S
Safety Precautions - 6
Sensor Socket - 26, 216
Servo Loop Input Factor - 91, 99, 100,
106
Servo Modes - 55
Set Absolute Position - 29, 30
Software Description - 8, 10, 27, 52
Software Updates - 31
Specifications - 212
Starting Macro Execution - 84
Start-Up Macro - 84, 184
System Description - 51

T
Target and Sender Address - 29, 54, 84,
110, 148, 208
Technical Data - 212
Trajectory Generation - 71

Travel Range Adjustment - 30, 71, 90,
92, 129, 130, 131, 133, 170
Troubleshooting - 207
Tuning PID Control Parameters - 52, 76,
91, 95

U
Unpacking - 8
Updates - 31
Updating PIStages2.dat - 17, 32
USB Interface - 28
USB Socket - 23, 217
Using Trigger Input and Output - 31, 53

W
What to Consider for First Handling of
Parameter Settings - 35
Working with Controller Macros - 20, 31,
52, 55, 68, 82, 120

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