E 861_User_PZ205 861 User PZ205E121 Manual

E-861_User_PZ205E121_User%20Manual

User Manual:

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Introduction
First Steps
Details of Operation
Controller Parameters
System Description
Joystick Control
Working with Controller Macros
Data Recording
Customizing the System
GCS Commands
Troubleshooting
Customer Service
Old Equipment Disposal
Technical Data
15 Index

Auf der Römerstr. 1 ⋅ 76228 Karlsruhe, Germany

Tel. +49 721 4846-0 ⋅ Fax: +49 721 4846-299

info@pi.ws ⋅ www.pi.ws

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

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

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 4

1.1 Prescribed Use.................................................................................... 5

1.2 Safety Precautions..............................................................................6

1.3 Unpacking ...........................................................................................8

1.4 Additional Components.......................................................................9

1.5 Motion System Requirements .............................................................9

1.6 Software Description.........................................................................10

2 First Steps 12

2.1 Requirements for Closed-Loop Operation and Custom Systems .....12

2.2 Getting Started..................................................................................12

2.3 Example for Commanding Motion.....................................................20

3 Details of Operation 23

3.1 Front and Rear Panel Elements........................................................23

3.1.1 Front Panel Elements ......................................................................... 23

3.1.2 DIP Switch Settings ............................................................................ 24

3.1.3 Rear Panel Elements.......................................................................... 26

3.2 Installing the E-861 ...........................................................................26

3.3 Installing the Software on the Host PC .............................................27

3.4 Connecting Controller or Daisy-Chain Network to Host PC ..............27

3.4.1 USB Interface .....................................................................................28

3.4.2 Baud Rate Settings............................................................................. 28

3.4.3 Address Settings ................................................................................ 29

3.5 Referencing.......................................................................................29

3.5.1 Reference Mode ................................................................................. 29

3.5.2 Perform a Reference Move ................................................................ 30

3.5.3 Set Absolute Position ......................................................................... 30

3.6 Using Trigger Input and Output.........................................................31

3.7 Updates.............................................................................................31

3.7.1 Software Updates ............................................................................... 31

3.7.2 Updating PIStages2.dat...................................................................... 32

3.7.3 Firmware Updates .............................................................................. 32

4 Controller Parameters 35

4.1 General Information ..........................................................................35

4.2 What to Consider for First Handling of Parameter Settings .............. 35

4.3 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 Parameter List...................................................................................41

4.5 Default-Stage-N Parameter Settings.................................................49

5 System Description 51

5.1 Basic Elements .................................................................................51

5.2 Accessible Items and Their Identifiers ..............................................53

5.3 Modes of Operation...........................................................................54

5.3.1 Servo Modes....................................................................................... 55

5.3.2 Motion Modes ..................................................................................... 56

5.3.3 Changing Motion and Servo Mode..................................................... 59

5.3.4 PiezoWalk Driving Mode .................................................................... 63

5.3.5 Application Notes................................................................................ 67

5.4 Control Basics................................................................................... 68

5.4.1 Control Value Generation ................................................................... 68

5.4.2 Trajectory Generation......................................................................... 71

5.4.3 Control Algorithm................................................................................ 76

5.4.4 Motion Error Handling......................................................................... 77

6 Joystick Control 79

7 Working with Controller Macros 82

7.1 Defining Macros ................................................................................82

7.2 Starting Macro Execution.................................................................. 84

7.3 Start-Up Macro..................................................................................84

7.4 Preparing for Stand-Alone Preparation............................................. 85

8 Data Recording 88

9 Customizing the System 89

9.1 Parameters for Customizing.............................................................. 90

9.2 Travel Range Adjustment.................................................................. 92

9.3 Tuning PID Control Parameters ........................................................95

9.4 How to Create a New Stage Type in the PI Stages Database..........98

9.5 Adjustment for Custom Sensor .........................................................99

9.5.1 Servo Loop Input Factor..................................................................... 99

9.5.2 Adjustment for Custom Sensor Using Custom Interpolation Board . 100

9.5.3 GEMAC Parameters......................................................................... 105

9.5.4 Custom Sensor Using GEMAC Interpolation Board......................... 106

10 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

11 Troubleshooting 207

12 Customer Service 210

13 Old Equipment Disposal 211

14 Technical Data 212

14.1 Specifications.................................................................................. 212

14.2 Mounting Hole Pattern ....................................................................214

14.3 Pin Assignments .............................................................................215

14.3.1 Motor Socket..................................................................................... 215

14.3.2 Sensor Socket .................................................................................. 216

14.3.3 RS-232 In and RS-232 Out Sockets ................................................ 216

14.3.4 USB Socket ...................................................................................... 217

14.3.5 I/O Socket......................................................................................... 218

14.3.6 C-170.IO Cable................................................................................. 219

14.3.7 Joystick Socket................................................................................. 220

14.3.8 Joystick Y-Cable............................................................................... 221

14.3.9 24 V DC Socket ................................................................................ 221

15 Index 222

Introduction

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1 Introduction

The E-861 NEXACT® controller is designed to drive a single-axis

PiezoWalk® system with NEXACT® linear drive in open-loop or closed-

loop 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.

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 60364-4-

443).

■ Degree of pollution: 2

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

table.

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Introduction

www.pi.ws E-861 PZ205E Release 1.2.1 Page 6

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.

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.

! 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.

! 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.

! CAUTION

Incorrect E-861 parameter values may lead to improper operation or

damage of your hardware. Be careful when changing parameters.

! CAUTION

The E-861 is equipped with a watchdog timer. This safety device

resets the E-861 in case of software failure.

! 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.

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Introduction

www.pi.ws E-861 PZ205E Release 1.2.1 Page 8

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:

■ 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)

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:

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

1.5 Motion System Requirements

To start working with the E-861 NEXACT® controller, your motion system

must include the following components:

■ 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

www.pi.ws E-861 PZ205E Release 1.2.1 Page 9

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 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

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 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.

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.

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 ASCII-

format 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

www.pi.ws E-861 PZ205E Release 1.2.1 Page 10

Introduction

TMS320F28xx

Updater Windows The TMS320F28xx Updater firmware

update program guides you through

the update of the firmware for your

E-861 system.

Users who want to update the

firmware.

www.pi.ws E-861 PZ205E Release 1.2.1 Page 11

First Steps

2 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.

www.pi.ws E-861 PZ205E Release 1.2.1 Page 14

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 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.

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 <do not change> 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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First Steps

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

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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:

1 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.

2 To send the commands as given below follow the Tools →

Command entry menu sequence in the PIMikroMove main window,

see figure below.

First Steps

3 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 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.

MVR 1 -5 Closed-loop motion, moves Axis 1 relative to the last commanded

closed-loop target position.

SVO 1 0 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.

OAD 1 40 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.

RNP 1 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.

SVO 1 1 Servo is activated.

MOV 1 5 Closed-loop motion, Axis 1 moves to absolute position 5 mm.

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First Steps

SVO 1 0 Servo must be disabled to enable open-loop commands.

Disabling servo includes an automatic Relaxing procedure.

OAD 1 -20 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.

RNP 1 Relaxing of PiezoWalk channel 1 is required to prepare stage for

nanostepping motion.

SSA 1 40 Voltage amplitude for nanostepping motion is set to +40 volts.

OSM 1 100 Open-loop nanostepping motion, PiezoWalk channel 1 moves

100 steps in positive direction.

OMA 1 6 Open-loop nanostepping motion, Axis 1 moves to absolute

position, i.e. to absolute position of approximately 6 mm.

OMR 1 -3 Open-loop nanostepping motion, moves Axis 1 relative to the last

commanded open-loop target position, here by 3 mm in negative

direction.

RNP 1 Relaxing of PiezoWalk channel 1 is required to prepare stage for

analog motion.

OAD 1 -40 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

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3 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 Function

RS-232 In 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.

RS-232 Out Serial connection to next controller in a daisy-

chain network. See "RS-232 In and RS-232 Out

Sockets" (p. 216) for pinout.

STA LED

(green) Power on and ready indicator. When power is

applied to the controller, the LED will glow for

normal operation.

ERR LED (red) 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.

I/O Mini DIN 9-pin connector, provides digital I/O and

analog input lines. See "I/O Socket" (p. 218) for

pinout.

Joystick Mini DIN 6-pin connector for analog joystick

(input). See "Joystick Socket" (p. 220) for pinout.

Details of Operation

Name Function

Mode, Baud,

Addr 8-bit DIP switch, sets controller address, RS-232

baud rate and operating mode of unit. See "DIP

Switch Settings" for details.

3.1.2 DIP Switch Settings

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

Name Function

Addr (switch 1 to 4) Controller address (1 to 16)

Baud (switch 5 and 6) Baud rate (9600, 19200,

38400 or 115200**)

Mode (switch 7 and 8) 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

1 ON ON ON ON

2 ON ON ON OFF

3 ON ON OFF ON

4 ON ON OFF OFF

5 ON OFF ON ON

6 ON OFF ON OFF

7 ON OFF OFF ON

8 ON OFF OFF OFF

9 OFF ON ON ON

10 OFF ON ON OFF

11 OFF ON OFF ON

12 OFF ON OFF OFF

13 OFF OFF ON ON

14 OFF OFF ON OFF

15 OFF OFF OFF ON

16 OFF OFF OFF OFF

Baud Rate* SW5 SW6

9600 ON ON

19200 ON OFF

38400 OFF ON

115200** OFF 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

Mode SW7 SW8

Firmware

update OFF ON

Normal OFF OFF

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Details of Operation

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3.1.3 Rear Panel Elements

Figure 3: Rear Panel of E-861.1A1

Name Function

24 VDC Connector for power supply. See "24 VDC

Socket" (p. 221) for pinout.

Sensor 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.

Motor Sub-D connector for NEXACT® drive. See

"Motor Socket" (p. 215) for pinout.

3.2 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.

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.

2 If the Setup Wizard does not open automatically, start it from the

root directory of the CD with the icon.

3 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

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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)).

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:

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 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

4 Click on the E Piezo Drivers & Nanopositioning controllers

category.

5 Click on E-861.

6 Click on Software (if you click on Documents you will get the latest

manuals).

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Details of Operation

7 Click on the latest CD-Mirror (includes the manual versions that

were with the release) or on the latest update zip file.

3.7.2 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 other-

language 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:

■ 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:

1 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.

2 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

3 Start the TMS320F28XX Updater firmware update program.

4 Power on the E-861.

5 Establish communication between E-861 and host PC in the

firmware update program (Autobaudrate connection).

6 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.

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

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Details of Operation

8 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

9 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

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4 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 user-

defined 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.

Controller Parameters

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.

■ 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:

■ 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.

4.3.1 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 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

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

below.

3 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 <ENTER> 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 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

2 Adjust chosen parameter, see next figure.

3 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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Controller Parameters

A password is required, see next figure.

4 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)).

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1 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

Wrong values of the E-861 parameters may lead to improper operation

or damage of your hardware. Be careful when changing parameters.

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

Memory

Parameter

Description Possible Values/Notes

0x1 INT 100 P-Term of PID-parameter

set

for nanostepping mode 0 to 65535

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Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

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

0x8 FLOAT 100 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.

0xA FLOAT 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

0xB FLOAT 100

Current closed-loop

acceleration (user unit/s2),

also changed by ACC

command (p. 118).

Gives the current closed-loop

acceleration limited by

parameter 0x4A

0xC FLOAT 100 Closed-loop deceleration

(user unit/s2), also changed

by DEC command (p. 119).

Gives the current closed-loop

deceleration limited by

parameter 0x4B

0xE INT 100 Numerator of the counts-

per-physical-unit factor 1 to 1,000,000 for each

parameter.

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Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

Memory

Parameter

Description Possible Values/Notes

0xF INT 100 Denominator of the counts-

per-physical-unit factor

The counts-per-physical-unit

factor determines the "user"

unit for closed-loop motion

commands. When you change

this factor, all other

parameters whose unit is

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 1 = the stage has a reference,

else 0

0x15 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.

0x16 FLOAT 100

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.

0x17 FLOAT 100

DISTANCE_REF_TO_N_

LIM

The distance between

reference switch and

negative limit switch (user

unit)

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.

0x18 INT 100 Axis limit mode 0 = positive limit switch active

high (pos-HI), negative limit

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Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

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.

0x30 FLOAT 100

MAX_TRAVEL_RANGE_

NEG

The maximum travel in

negative direction (user

unit)

"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.

0x31 INT 100 Invert the reference 1 = invert the reference, else 0

0x32 INT 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

0x36 INT 100 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.

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,

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Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

Memory

Parameter

Description Possible Values/Notes

reference 1 = start in negative direction,

2 = start in positive direction

0x49 FLOAT 100

Current closed-loop

velocity (user unit/s) also

changed by VEL command

(p. 188)

Gives the current closed-loop

velocity limited by parameter

0xA

0x4A FLOAT 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)

0x4B FLOAT 100 Maximum closed-loop

deceleration (user unit/s2)

Gives the maximum value

which can be set with the DEC

command (p. 119) (for

parameter 0xC)

0x50 FLOAT 100 Closed-loop referencing

velocity (user units/s)

Is limited by Maximum closed-

loop velocity parameter (ID

0xA)

0x5A INT 100 Numerator of servo loop

input factor

0X5B INT 100 Denominator 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.

Note that the servo loop input

factor 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.

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

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Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

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

for analog mode 0 to 65535

0x403 INT 100 D term of PID-parameter

set for analog mode 0 to 65535

0x7000000 INT 100 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.

0x7000001 INT 100 Travel range maximum

(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.

0x7000002 INT 100 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.

www.pi.ws E-861 PZ205E Release 1.2.1 Page 46

Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

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

0x7000004 INT 100 Time to close servo

(ms)

1 to 1000 ms

Gives the time interval

between obtaining trajectory

voltage and closing of servo-

loop

0x7000201 FLOAT 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.

0x7000202 FLOAT 100

Current open-loop

acceleration (step

cycles/s2), also changed by

OAC command (p. 154)

Gives the current open-loop

acceleration, limited by

parameter 0x7000205.

0x7000203 FLOAT 100

Current open-loop

deceleration (step

cycles/s2), also changed by

ODC command (p. 157)

Gives the current open-loop

deceleration, limited by

parameter 0x7000206.

0x7000204 FLOAT 100 Maximum open-loop

velocity (step cycles/s)

Gives the maximum value

which can be set with the OVL

command (p. 165) (for

parameter 0x7000201).

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 open-

loop velocity parameter (ID

0x7000204)

0x7001A00 INT 100 PiezoWalk Driving mode

Determines how closed-loop

motion is performed:

0 = nanostepping mode only

1 = alternating sequence of

analog mode and

nanostepping mode

0x7000601 CHAR Axis unit This parameter has to be set

consistent with the counts-per-

physical-units factor given by

www.pi.ws E-861 PZ205E Release 1.2.1 Page 47

Controller Parameters

Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

Memory

Parameter

Description Possible Values/Notes

parameters 0xE and 0xF

0x7000010 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?

0x7000011 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?

0x7000012 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?

0x7000013 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

0x7000017 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?

0x7000018 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?

0x7000019 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

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Controller Parameters

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Parameter

ID (hexa-

decimal)

Data

Type

Password for

Writing to Non-

Volatile

Memory

Parameter

Description Possible Values/Notes

(Write register SYNC on

the GEMAC interpolation

circuit)

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?

>>spa?

<<1 0x1 = 100

<<1 0x2 = 50

<<1 0x3 = 0

<<1 0x4 = 2000

Controller Parameters

<<1 0x8 = 1000000.0

<<1 0xA = 1000000.0

<<1 0xB = 500000.0

<<1 0xC = 500000.0

<<1 0xE = 1

<<1 0xF = 1

<<1 0x14 = 0

<<1 0x15 = 2147483647.0

<<1 0x16 = 0.0

<<1 0x17 = 2147483647.0

<<1 0x18 = 0

<<1 0x2F = 2147483647.0

<<1 0x30 = -2147483647.0

<<1 0x31 = 0

<<1 0x32 = 1

<<1 0x36 = 10

<<1 0x3C = DEFAULT_STAGE-N

<<1 0x3F = 0.010000

<<1 0x47 = 0

<<1 0x49 = 250000.0

<<1 0x4A = 10000000.0

<<1 0x4B = 10000000.0

<<1 0x50 = 100000.0

<<1 0x5A = 50000

<<1 0x5B = 1

<<1 0x94 = 10000.000

<<1 0x95 = 0.800

<<1 0xAC = 200.000

<<1 0x401 = 100

<<1 0x402 = 100

<<1 0x403 = 0

<<1 0x7000000 = -2147483647.0

<<1 0x7000001 = 2147483647.0

<<1 0x7000002 = 10

<<1 0x7000003 = 55.0000

<<1 0x7000004 = 10

<<1 0x7000201 = 200

<<1 0x7000202 = 2000

<<1 0x7000203 = 2000

<<1 0x7000204 = 1500

<<1 0x7000205 = 2000

<<1 0x7000206 = 2000

<<1 0x7000207 = 100

<<1 0x7001A00 = 0

<<1 0x7000601 = counts

<<1 0x7000010 = 252

<<1 0x7000011 = 10

<<1 0x7000012 = 60

<<1 0x7000013 = 0

<<1 0x7000014 = 15

<<1 0x7000015 = 0

<<1 0x7000016 = 0

<<1 0x7000017 = 128

<<1 0x7000018 = 0

<<1 0x7000019 = 128

<<1 0x700001A = 0

<<1 0x700001B = 0

<<1 0x700001C = 255

<<1 0x700001D = 0

<<1 0x700001E = 0

<<1 0x700001F = 70

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System Description

5 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".

■ ASCII Commands:

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System Description

www.pi.ws E-861 PZ205E Release 1.2.1 Page 52

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 non-

volatile 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).

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:

■ 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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System Description

www.pi.ws E-861 PZ205E Release 1.2.1 Page 54

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:

■ 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.

5.3 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

System Description

modes

Motion sequence

Sequence of transitions and states

■ Application notes

5.3.1 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). Open-

loop 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 bit-

coded response.

For additional information see also "Control Value Generation" (p. 68),

"Control Algorithm" (p. 76) and "PiezoWalk Driving Mode" (p. 63).

! 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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System Description

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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.

System Description

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)

Actuator pair 2 (U3, U4

in Figure 5)

Clamping voltage

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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System Description

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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)

System Description

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.

■ Open-loop operation (servo off), analog mode:

OAD (p. 155)

■ Closed-loop operation (servo on):

MOV (p. 151)

MVR (p. 153)

5.3.3 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:

 Switching the servo mode off with

SVO <AxisID> 0

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System Description

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 <PiezoWalkChanID> 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? <AxisID>) and the servo mode (response to SVO?

<AxisID>).

#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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System Description

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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.

E-861 PZ205E Release 1.2.1

System Description

• Transitions for closed-loop motion

Go to motion transition (5) in closed-loop operation, is done

when

SVO <AxisID> 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 closed-

loop motion

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System Description

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

■ 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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System Description

■ 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

3 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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System Description

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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

System Description

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? <AxisID>, 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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System Description

■ Analog mode consists of:

Analog state (0)

5.3.5 Application Notes

Sending an RNP command brings the NEXACT® linear drive to a full-

holding-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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System Description

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:

■ Control value generation for both servo modes

■ Trajectory generation

■ Control algorithm

■ Motion error handling

5.4.1 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 bit-

coded 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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System Description

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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

System Description

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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System Description

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

Corresponding

Commands

Corresponding

Controller Parameter

Notes

Acceleration

(A) ACC (p. 118), ACC?

(p. 118)

for

closed-loop mode

Current closed-loop

acceleration (parameter ID

0xB; user unit/s2)

Changed by ACC or by

SPA / SEP, can be saved

with WPA

Limited by parameter

0x4A (Maximum

closed-loop

acceleration)

OAC (p. 154), OAC?

(p. 155)

for

open-loop mode

Current open-loop

acceleration (parameter ID

0x7000202; step cycles/s2)

Changed by OAC

command or by SPA /

Limited by parameter

0x7000205

(Maximum open-loop

acceleration)

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System Description

Motion

Parameter

Corresponding

Commands

Corresponding

Controller Parameter

Notes

SEP, can be saved with

WPA

Deceleration

(D) DEC (p. 119), DEC?

(p. 120)

for

closed-loop mode

Current closed-loop

deceleration (parameter ID

0xC; user unit/s2)

Changed by DEC

(p. 119) or by SPA / SEP,

can be saved with WPA

Limited by parameter

0x4B (Maximum

closed-loop

deceleration)

ODC (p. 157), ODC?

(p. 158)

for

open-loop mode

Current open-loop

deceleration (parameter ID

0x7000203; step cycles/s2)

Changed by ODC

command or by SPA /

SEP, can be saved with

WPA

Limited by parameter

0x7000206

(Maximum open-loop

deceleration)

Velocity (V) VEL (p. 188), VEL?

(p. 189)

for

closed-loop mode

Current closed-loop

velocity (parameter ID

0x49; user unit/s)

Changed by VEL or by

SPA / SEP, can be saved

with WPA

OVL (p. 165), OVL?

(p. 166)

for

open-loop mode

Current open-loop velocity

(parameter ID 0x7000201;

step cycles/s)

Changed by OVL

command or by SPA /

SEP, can be saved with

WPA

Limited by parameter

0xA (Maximum closed-

loop velocity)

respectively by

parameter 0x7000204

(Maximum open-loop-

velocity)

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.

Target MOV (p. 151), MVR

(p. 153), GOH (p. 135),

STE (p. 181)

for

closed-loop mode

- 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

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Motion

Parameter

Corresponding

Commands

Corresponding

Controller Parameter

Notes

OMA (p. 158), OMR

(p. 161), OSM (p. 163)

for

open-loop mode

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 open-

loop 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.

System Description

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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System Description

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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System Description

5.4.3 Control Algorithm

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

The E-861 controller for NEXACT® stages uses a proportional-integral-

differential (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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System Description

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:

1 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.

2 Check your hardware and make sure that it is safe for the stage to

move the axis.

3 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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System Description

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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

Joystick Control

6 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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Joystick Control

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-by-

point (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) 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.

JON? (p. 145) Queries the current activation state of the joystick devices.

JAX (p. 139) 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.

JAX? (p. 140) Queries the current assignment of controller axes to

joystick axes.

JAS? (p. 138) 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.

JBS? (p. 140) 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

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.

Working with Controller Macros

7 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 real-

time 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 <macroname> where <macroname> 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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Working with Controller Macros

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 <macroname>

where <macroname> is the name that was given to the macro to be run.

To run a macro multiple times, call it with MAC NSTART <macroname> 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 <macroname> 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 closed-

loop operation since the startup macro switches the servo on and performs

Working with Controller Macros

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 <macroname>.

Deleting a macro with MAC DEL <macroname> does not delete the start-

up 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.

! 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.

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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.

2 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

3 Send macro to controller, see next figure.

Working with Controller Macros

4 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

8 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

9 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:

■ 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 servo-

loop 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.

■ 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

Customizing the System

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 Function

0x14 Stage has a reference switch

1 if yes, 0 if no

0x31 Invert the reference

1 if invert, 0 if no inversion

0x32 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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Customizing the System

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:

■ 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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Customizing the System

■ 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.

Customizing the System

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:

1 Open the expanded single axis window by following the View →

Single Axis Window menu sequence for the connected stage.

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

below.

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Customizing the System

3 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 <ENTER> is pressed while the cursor is in the text entry.

4 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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5 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.

6 Press the step response button (positive slope) to start and record

a step response.

See figure below for an example:

7 If the step response does not prove satisfactory, adjust the PID

settings in the expanded Single axis window.

8 Press enter for each adjusted parameter setting in the expanded

Single axis window separately.

9 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:

1 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.

2 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.

3 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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Customizing the System

4 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.

5 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.

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.

CAUTION

The boards inside the E-861 are ESD-sensitive (electrostatic discharge

sensitive) devices. Observe all precautions against static charge

Customizing the System

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:

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

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

controller.

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

4 Remove top plate from the controller. Now you have access to the

GEMAC interpolation board, see next figure.

5 Remove interpolation board. Below the interpolation board a DIP

switch is located.

6 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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Customizing the System

7 Attach top plate to controller by tightening the 2x2 cross-head

screws to controller rear and front plates.

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

9 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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Customizing the System

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

Pin With interpolation

board Without interpolation

board

1 REF REF

2 VDD (5 V output) VDD (5 V output)

3 REFP

(Positive reference trace

from ruler)

cannot be used

4 COSP B+

5 SINP A+

6 PLIMIT PLIMIT

7 NLIMIT NLIMIT

8 Ref

(negative reference

trace from ruler)

cannot be used

9 COSN B -

10 SINN A -

11 internal use internal use

12 VDD (5 V output) VDD (5 V output)

13 GND GND

14 GND GND

15 GND 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.

2 Test the functioning of the system.

3 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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Customizing the System

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 write-

protected 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.

LF LineFeed (ASCII char #10), is the default termination

character

SP 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 [?]

GCS Commands

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}<argument>}]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 <AxisID> 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}<argument>}]LF

When all arguments are optional and are omitted, all possible values are

reported. For example,

POS?

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GCS Commands

queries the position of all axes.

Reply syntax:

[<argument>[{SP<argument>}]"="]<value>LF

Multi-line reply syntax:

{[<argument>[{SP<argument>}]"="]<value>SP LF}

[<argument>[{SP<argument>}]"="]<value>LF for the last line!

The command

CMD?SP<arg3>SP <arg1>SP <arg2>LF

replies in the same order:

<arg3>"="<value3>SP LF

<arg1>"="<value1>SP LF

<arg2>"="<value2> LF

Example:

Send: TSP?SP2SP1

Report: 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

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

If you send

1 *idn?

it will respond with

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.

GCS Commands

10.2 Command Survey

#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

GCS Commands

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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GCS Commands

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.

Format: #4 (single ASCII character number 4)

Arguments: none

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GCS Commands

Response: The answer is bit-mapped. See below for the individual

codes.

Notes: 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 12 11 10 9 8

Descrip-

tion On

Target Is

referen-

cing

moving Servo

On 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.

Bit 7 6 5 4 3 2 1 0

Descrip-

tion Digital

Input 4 Digital

Input 3 Digital

Input 2 Digital

Input 1 - Positive

Limit Refe-

rence Negative

Limit

Example: 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.

Format: #5 (single ASCII character number 5)

Arguments: none

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Response: The answer <uint> 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

...

Examples: 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).

Note: Use #5 (p. 115) instead of #7 to verify if motion

has finished.

Format: #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.

Format: #8 (single ASCII character number 8)

Arguments: none

Response: <uint>=0 no macro is running

<uint>=1 a macro is currently running

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GCS Commands

#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:

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 {<AxisID> <Acceleration>}

Arguments: <AxisID> is one axis of the controller

<Acceleration> is the acceleration value in physical

units/s2.

Response: none

Troubleshooting: Illegal axis identifiers

Notes: The lowest possible value for <Acceleration> 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? [{<AxisID>}]

Arguments: <AxisID> is one axis of the controller

Response: {<AxisID>"="<float> LF}

where

<float> is the current active closed-loop acceleration

value in physical units / s2.

GCS Commands

CST? (Get Assignment of Stages to Axes)

Description: Returns the name of the connected stage for the

queried axis.

Format: CST? [{<AxisID>}]

Arguments: <AxisID> is one axis of the controller

Response: {<AxisID>"="<string> LF}

where

<string> is the name of the stage assigned to the axis.

Notes: 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 {<AxisID> <Deceleration>}

Arguments: <AxisID> is one axis of the controller

<Deceleration> is the deceleration value in physical

units/s2.

Response: none

Troubleshooting: Illegal axis identifiers

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GCS Commands

Notes: The lowest possible value for <Deceleration> 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? [{<AxisID>}]

Arguments: <AxisID> is one axis of the controller

Response: {<AxisID>"="<float> LF}

where

<float> is the current active closed-loop deceleration

value in physical units / s2.

DEL (Delay The Command Interpreter)

Description: Delays <uint> milliseconds.

Format: DEL <uint>

Arguments: <uint> 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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GCS Commands

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 {<DIOID> <OutputOn>}

Arguments: <DIOID> is one digital output line of the controller, see

below for details

<OutputOn> 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 <DIOID> 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 <OutputOn>.

If <OutputOn>=1 the line is set to HIGH/ON, if

<OutputOn>=0 it is set to LOW/OFF. If <DIOID> = 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.

Use TIO? (p. 186) to get the number of installed digital

I/O lines.

Format: DIO? [{<DIOID>}]

Arguments: <DIOID> is the identifier of the digital input line, see

below for details

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Response: {<DIOID>"="<InputOn> LF}

where

<InputOn> gives the state of the digital input line, see

below for details

Notes: 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 <DIOID> identifiers to use for the lines are 1 to 4.

If the identifier is omitted or 0, all lines are queried.

If <InputOn>=0, the digital input is LOW/OFF, if

<InputOn>=1, the digital input is HIGH/ON. If

<DIOID> is 0, <InputOn> 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 <RecTableID> <Source> <RecOption>

Arguments: <RecTableID>: is one data recorder table of the

controller, see below

<Source>: 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.

<RecOption>: 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: 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

options with the

appropriate data

sources:

0=Nothing is recorded

1=Target Position of axis (i.e. target position in

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).

Format: DRC? [{<RecTableID>}]

Arguments: <RecTableID>: 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:

{<RecTableID>"="<Source> <RecOption> LF}

where

<Source>: is the data source, for example an axis or

an output signal channel of the controller. The source

type depends on the record option.

<RecOption>: 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? [<StartPoint> <NumberOfPoints>

[{<RecTableID>}]]

Arguments: <StartPoint>: is the first point to be read from the data

recorder table, starts with index 1

<NumberOfPoints>: is the number of points to be read

per table

<RecTableID>: 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 <DataRecorderTable> 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: 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

4.99998 0.00002

5.00000 0.00000

4.99998 0.00002

5.00000 0.00000

4.99998 0.00002

5.00000 0.00000

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 <RecTableID> <TriggerSource> <Value>

Arguments: <RecTableID> is one data recorder table of the

controller. See below for details.

<TriggerSource> ID of the trigger source, see below

for a list of available options

<Value> 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; <Value> must be a dummy

1 = any command changing position (e.g. MVR

(p. 153), MOV (p. 151), OAD (p. 155), OSM (p. 163));

<Value> must be a dummy

2 = next command, resets trigger after execution;

<Value> 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; <Value>

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? [{<RecTableID>}]

Arguments: <RecTableID> is one data recorder table of the

controller

Response: {<RecTableID>"="<TriggerSource> <Value> LF}

where

<TriggerSource> is the ID of the trigger source, see

DRT (p. 126) for details

<Value> depends on the trigger source, if 0 it is a

dummy, see DRT for details

Notes: 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=<TriggerSource> <Value>

ERR? (Get Error Number)

Description: Get error code <int> 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).

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.

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: FED {<AxisID> <EdgeID> <Param>}

Arguments: <AxisID> is one axis of the controller.

<EdgeID> is the type of edge the axis has to move

to. See below for available edge types.

<Param> 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, <Param> must be 0

2 = positive limit switch, <Param> must be 0

3 = reference switch, <Param> 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.

GCS Commands

Format: FNL [{<AxisID>}]

Arguments: <AxisID> 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 closed-

loop 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.

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: FPL [{<AxisID>}]

Arguments: <AxisID> 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

closed-loop operation.

The reference mode must be set to "1" (factory

default) with the RON command (p. 170) if

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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 [{<AxisID>}]

Arguments: <AxisID> 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

closed-loop 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.

The value of the VALUE_AT_REF_POS parameter

(ID 0x16) is set as the current position when the axis

is at the reference 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 FNL (p. 129) or FPL (p. 131) instead of FRF to

GCS Commands

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.

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)).

Format: FRF? [{<AxisID>}]

Arguments: <AxisID>: is one axis of the controller

Response: {<AxisID>"="<uint> LF}

where

<uint> indicates whether the axis was successfully

referenced (=1) or not (=0).

Troubleshooting: Illegal axis identifier

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GOH (Go To Home Position)

Description: Move given axes to home position.

GOH [{<AxisID>}]

is the same as

MOV {<AxisID> 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 [{<AxisID>}]

Arguments: <AxisID>: 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: none

GCS Commands

Response: #RecordOptions

{<RecordOption>"="<DescriptionString>[ of

<Channel>]}

#TriggerOptions

[{<TriggerOption>"="<DescriptionString>}]

#Parameters to be set with SPA

[{<ParameterID>“=“<DescriptionString>}]

#Additional information

[{<Command description>"("<Command>")"}]

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 [{<AxisID>}]

Arguments: <AxisID>: 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.

GCS Commands

HPA? (Get List Of Available Parameters)

Description:

Responds with a help string which contains all

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 non-

volatile memory.

Format: HPA?

Arguments: none

Response: {<PamID>"="<string> LF}

where

<PamID> is the ID of one parameter, hexadecimal

format

<string> is a string which describes the corresponding

parameter.

The string has following format:

<ParameterDescription> 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: JAS? [{<JoystickID> <JoystickAxis>}]

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Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickAxis> is one of the axes of the joystick

device; see below for details

Response: {<JoystickID> <JoystickAxis>"="<Amplitude>}

where

<Amplitude> 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.

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 <Amplitude> 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 <JoystickID> <JoystickAxis> <AxisID>

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickAxis> is one of the axes of the joystick

device; see below for details

<AxisID> is one axis of the controller

Response: none

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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).

JAX? (Get Axis Controlled By Joystick)

Description: Get axis controlled by a joystick which is directly

connected to the controller.

Format: JAX? [{<JoystickID> <JoystickAxis>}]

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickAxis> is one of the axes of the joystick

device; see below for details

Response: {<JoystickID> <JoystickAxis>"="{<AxisID> }LF}

where

<AxisID> is one axis of the controller

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).

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? [{<JoystickID> <JoystickButton>}]

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickButton> is one of the buttons of the joystick

device; see below for details

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Response: {<JoystickID> <JoystickButton> "="<State>}

where

<State> 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.

The current valid lookup-table content for the specified

joystick axis is overwritten by the selection made with

JDT.

Format: JDT {<JoystickID> <JoystickAxis> <uint>}

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickAxis> is one of the axes of the joystick

device; see below for details

<uint> defines the type of lookup-table profile to use;

see below for details

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).

Available lookup

tables: The E-861 provides the following types for the lookup-

table profile:

1 = linear (power-on default)

2 = parabolic

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GCS Commands

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.

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).

Format: JLT <JoystickID> <JoystickAxis> <Addr> <floatn>

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickAxis> is one of the axes of the joystick

device; see below for details

<Addr> is the index of a point in the lookup table,

starts with 1

<floatn> 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 <floatn> 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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GCS Commands

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? [<StartPoint> <NumberOfPoints> [{<JoystickID>

<JoystickAxis>}]]

Arguments: <StartPoint>: is the start point in the lookup table,

starts with 1

<NumberOfPoints>: is the number of points to be read

per joystick axis; maximum number is 256

<JoystickID> is one joystick device connected to the

controller; see below for details

<JoystickAxis> is one of the axes of the joystick

device; see below for details

Response: 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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GCS Commands

Notes: With the E-861, <JoystickID> and <JoystickAxis>

must be omitted in the JLT? command, while

<StartPoint> and <NumberOfPoints> are always

required.

The <floatn> 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.

Example: 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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GCS Commands

JON (Set Joystick Activation Status)

Description: Enable or disable a joystick device which is directly

connected to the controller.

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.

Format: JON {<JoystickID> <uint>}

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

<uint> 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? [{<JoystickID>}]

Arguments: <JoystickID> is one joystick device connected to the

controller; see below for details

Response: {<JoystickID>"="<uint>}

where

<uint> is the joystick activation state: 1 = joystick

device enabled, 0 = joystick device disabled

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).

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GCS Commands

LIM? (Indicate Limit Switches)

Description: Indicates whether axes have limit switches.

Format: LIM? [{<AxisID>}]

Arguments: <AxisID>: is one axis of the controller

Response: {<AxisID>"="<uint> LF}

where

<uint> 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 <keyword> {<parameter>}

in particular:

MAC BEG <macroname>

MAC DEF <macroname>

MAC DEF?

MAC DEL <macroname>

MAC END

MAC NSTART <macroname> <uint>

MAC START <macroname>

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GCS Commands

Arguments: <keyword> determines which macro function is

called. The following keywords and parameters are

used:

MAC BEG <macroname>

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 <macroname>

Set specified macro as start-up macro. This macro

will be automatically executed with the next power-on

or reboot of the controller. If <macroname> is omitted,

the current start-up macro selection is canceled.

MAC DEF?

Ask for the start-up macro

Response: <macroname>

If no start-up macro is defined, the response is an

empty string with the terminating character.

MAC DEL <macroname>

Deletes specified macro.

: MAC NSTART <macroname> <uint>

Repeat the specified macro <uint> times. Another

execution is started when the last one is finished.

MAC START <macroname>

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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GCS Commands

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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.

GCS Commands

MAC? (List Macros)

Description: List macros or content of a given macro.

Format: MAC? [<macroname>]

Arguments <macroname>: name of the macro whose content

shall be listed; if omitted, the names of all stored

macros are listed.

Response: <string>

if <macroname> was given, <string> is the content of

this macro;

if <macroname> was omitted, <string> is a list with the

names of all stored macros

Troubleshooting:

Macro <macroname> 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.

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.

E 861_User_PZ205 861 User PZ205E121 Manual

E-861_User_PZ205E121_User%20Manual

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