PI E-621.SR User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone [phone], Fax [phone], Email [e-mail], www.pi.ws
This document describes the
following
product:

E-621.SR
LVPZT Controller/Amplifier, Single Channel, for
Strain Gauge Sensors
W
ith servo controller submodule and computer
interface and command interpreter submodule
.
Capacitive
sensor E-621 versions are described in a
separate manual,
PZ160E.
PZ115E User Manual
E-621.SR LVPZT Controller/Amplifier Module
Release: 2.3.0 Date: 2021-09-21

Physik Instrumente (PI) GmbH & Co. KG is the owner of the following company names and
trademarks:
PI®, NanoCube®, PICMA®, PILine®, NEXLINE®, PiezoWalk®, NEXACT®, Picoactuator®,
PInano®, PIMag®, Q-Motion®
Notes on brand names and third-party trademarks:
Microsoft® and Windows® are registered trademarks or trademarks of Microsoft Corporation in
the USA and/or other countries.
LabVIEW, National Instruments and NI are trademarks of National Instruments. Neither the
driver software nor the software programs offered by PI or other goods and services are
connected to or sponsored by National Instruments.
Copyright 1999–2021 by Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany.
The text, photographs and drawings in this manual enjoy copyright protection. With regard
thereto, Physik Instrumente (PI) GmbH & Co. KG reserves all rights. Use of said text,
photographs and drawings is permitted only in part and only upon citation of the source.
First printing 2021-09-21
Document Number PZ115E Eco, BRo, Release 2.3.0
E-621UserPZ115E230.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 This manual is superseded by any new release.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.

About This Document
Users of This Manual
This manual is designed to help the reader to install and operate the E-621.SR LVPZT
Controller/Amplifier Module. 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-621.SR LVPZT
Controller/Amplifier Module as well as the hardware installation procedures which are required
to put the associated motion system into operation.
Updated releases are available for download from www.pi.ws or via email: contact your Physik
Instrumente Sales Engineer or our customer service department (mailto:[email protected]).
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.
DANGER
Indicates the presence of high voltage (> 50 V). 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.
Related Documents
The hardware components and the software tools which might be delivered with E-621.SR
LVPZT Controller/Amplifier Module are described in their own manuals. All documents are
available as PDF files. Updated releases are available for download from www.pi.ws or via
email: contact your Physik Instrumente Sales Engineer or our customer service department
(mailto:[e-mail]).
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Contents
1. Introduction 3
1.1 How to use the Documentation.................................................3
1.2 Intended Use ............................................................................5
1.3 Safety Precautions....................................................................6
1.4 Unpacking.................................................................................9
2. Quick Start 10
2.1 Line Power and Fuses ............................................................10
2.2 Installation...............................................................................11
2.3 First Steps...............................................................................13
3. Operation 16
3.1 Front Panel Elements..............................................................16
3.2 Modes of Operation ................................................................19
3.2.1 Control Modes.......................................................................... 19
3.2.2 Servo Modes (ON / OFF).........................................................21
3.3 Networking on I2C Bus............................................................23
3.4 User Electronics and Sensor Monitor Signal ...........................24
4. Calibration 25
4.1 Sensor Connection and Adjustment........................................25
4.1.1 Open-Loop Zero-Point Adjustment ..........................................26
4.1.2 Open-Loop Sensor Range Adjustment.................................... 28
4.1.3 Servo-Control Static Gain Calibration...................................... 30
4.2 Servo-Control Dynamic Characteristics...................................32
5. Electronics Details 33
5.1 E-621.SR Block Diagram........................................................33
5.2 Components and Adjustment Elements ..................................34
5.2.1 Jumpers.................................................................................... 35
5.2.2 Switches................................................................................... 36
5.2.3 Potentiometers......................................................................... 36
5.3 E801B1008 Sensor Processing Submodule............................36
5.4 E-802 Servo Controller Submodule.........................................37
6. Troubleshooting 38

Contents
7. Customer Service 42
8. Old Equipment Disposal 43
9. Technical Data 44
9.1 Specifications..........................................................................44
9.2 Frequency Response Diagram................................................46
9.3 Pin Assignments.....................................................................47
9.3.1 32-Pin Main Connector ............................................................47
9.3.2 Strain Gauge Sensor Wiring ....................................................48
10. Appendix 49
10.1 Lifetime of PICMA® Actuators.................................................49
10.2 European Declarations of Conformity......................................51

Introduction
www.pi.ws E-621.SR PZ115E Release 2.3.0 Page 3
1. Introduction
The E-621.SR amplifier/controller is designed as a EURO board
plug-in module which can be mounted in a 9.5” desktop chassis
(E-501.621) or a 19" rack chassis (E-500.621).
The E-621.SR amplifier/controller is designed to drive and
control the displacement of a low-voltage piezoelectric
positioner or actuator (LVPZT). The E-621.SR provides DC
sensor processing for usage with strain gauge sensors (SGS;
via E801B1008 sensor submodule).
The E-621.SR comes with an E-802 Servo Controller and an E-
816 Computer Interface and Command Interpreter installed as
standard.
Networking of E-621 modules allows controlling up to 12
devices over a single RS-232 or USB computer interface. The
modules to be networked must be installed in the same chassis.
E-621.CRs for use with capacitive sensors are described in
detail in their own manual, PZ160.
Fig. 1: E-621s installed in compatible PI chassis (E-500.621 in
this example) are automatically networked
1.1 How to use the Documentation
You can download all manuals listed below as well as manuals
for PC software from our website. For downloading, use the
links „E-816“ and „PI software“ from the file "A000T0081-
Downloading Manuals from PI.pdf", which can be found in the
\Manuals folder on the PI software CD that is included in the
scope of delivery.

Introduction
www.pi.ws E-621.SR PZ115E Release 2.3.0 Page 4
In general, the latest versions of our manuals are available for
download on our website (www.pi.ws).
E-621.SR User Manual (this document)
This User Manual enables you to put your positioner with the E-
621 into operation for the first time. Furthermore, it gives an
overview of the E-621 functions and specifications.
Always keep this user manual available by the E-621.
Add all information given by the manufacturer to the User
Manual, for example supplements or Technical Notes.
If you pass the E-621 on to other users, also turn over
this User Manual as well as all other relevant information
provided by the manufacturer.
Only use the device on the basis of the complete User
Manual. Missing information due to an incomplete User
Manual can lead to injury as well as property damage.
Only install and operate the E-621 after having read and
understood this User Manual.
E-816 User Manual (PZ116E)
Remote control via computer interface ("computer-controlled
mode", p. 20) makes use of the E-816 computer interface
module which is integrated in the E-621. During remote control
via computer interface, the E-621 is therefore identified as “E-
816”. For detailed instructions, descriptions and examples, refer
to the E-816 User Manual.
E-802 User Manual (PZ150E) and E801B1008 User
Manual (PZ117E)
In addition to the E-816 computer interface module, the
following submodules are integrated in the E-621.SR:
E-802.55 servo controller submodule
E801B1008 sensor processing submodule
The information given in the User Manuals of those submodules
is only relevant if you should ever need to re-calibrate your
system. For normal operation of the E-621, you do not need
those manuals because your system will be fully calibrated
before being shipped. Note that re-calibration should only be
done by appropriately trained personnel and after consultation
with PI.

Introduction
www.pi.ws E-621.SR PZ115E Release 2.3.0 Page 5
1.2 Intended Use
The E-621.SR LVPZT Controller/Amplifier Module is designed
for installation in a suitable chassis, e.g. the E-500.621 or E-
501.621 provided by PI.
Based on its design and realization, the E-621.SR LVPZT
Controller/Amplifier Module is intended to drive capacitive
loads, in the present case, piezoceramic actuators. The E-
621.SR must not be used for applications other than stated in
this manual, especially not for driving ohmic (resistive) or
inductive loads.
E-621.SRs can be used for both static and dynamic
applications.
The E-621.SR can be operated in closed-loop mode using
strain gauge sensors (SGS). Appropriate sensors are provided
by PI and integrated in the mechanics according to the
mechanics product specifications. Other sensors may be used
as position sensors only with permission of PI.
Observe the safety precautions given in this User Manual.
E-621.SR meets the following minimum specifications for
operation*:
Indoor use only
Altitude up to 2000 m
Ambient temperature from 5°C to 40°C
Relative humidity up to 80% for temperatures up to 31°C,
decreasing linearly to 50% relative humidity at 40°C
Line voltage fluctuations of up to ±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
*Any more stringent specifications in the Technical Data table are, of course,
also met.

Introduction
www.pi.ws E-621.SR PZ115E Release 2.3.0 Page 6
1.3 Safety Precautions
DANGER
High Voltage: Read This Before Operation:
E-621.SR LVPZT Controller/Amplifier Modules generate
voltages up to 130 V for driving LVPZTs. The output power
may cause serious injury.
When working with these devices or using PZT products
from other manufacturers we strongly advise you to follow
general accident prevention regulations.
All work done with and on the equipment described here
requires adequate knowledge and training in handling High
Voltages. Any cabling or connectors used with the system
must meet the local safety requirements for the voltages
and currents carried.
Procedures which require removing the E-621 module from
the chassis should be carried out by authorized, qualified
personnel only.
Disconnect the chassis from power when removing
modules, and when resetting internal switches or jumpers.
When a module removed from the chassis must be
operated, use a 32-pin extension connector (P-895.00, not
included). Voltages of up to 130 V can be exposed. Do not
touch internal conductors.
Be sure to connect pin 14a and 14c to a Protective
Ground!
WARNING
Connect the AC power cord of the E-500.621 or E-501.621
chassis in which the E-621 is installed to the wall socket
(100 to 240 VAC).
Only use the supplied power cord or a sufficiently
dimensioned power cord to connect the chassis to the
power source.
To disconnect the system from the supply voltage
completely, remove the power plug from the wall socket, or
remove the power cord from the chassis.
Install the system near the AC outlet and such that the AC
power plug can be reached easily.

Introduction
www.pi.ws E-621.SR PZ115E Release 2.3.0 Page 7
CAUTION
Place the chassis with the E-621(s) in a location with
adequate ventilation to prevent internal heat build-up. Allow
at least 10 cm (4 inches) clearance from the top and the
rear of the unit and 5 cm (2 inches) from each side.
Never cover the ventilation slots of the chassis as this will
impede ventilation.
CAUTION
E-621 modules 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. Pose PCBs only on
conductive surfaces, such as ESD-safe transport
containers (envelopes, foam). Electronic subassemblies
must always be kept and transported/shipped in conductive
packaging.
Make sure that no conductive particles of any kind (metallic
dust or shavings, broken pencil leads, loose screws)
contact the device circuitry.
CAUTION
The E-621 main connector pinout is not compatible with
the PI EURO board modules of the E-500 series (e.g. E-
509 servo controller or E-50x amplifier).
CAUTION
For successful operation of two or more E-621.CRs—
which are described in a separate manual—, their E-
500.621 or E-501.621 chassis must have been
manufactured after August 2006. Contact PI if you are not
sure about the manufacturing date of your chassis.
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