PI C-863 User manual

Physik Instrumente (PI) GmbH & Co. KG · Auf der Römerstr. 1 76228 Karlsruhe, Germany
Telephon [phone] · Telefax [phone] · E-Mail [email protected]s
MS205Equ
C-863 Mercury Controller
Short Version of the User Manual
Version: 2.0.0
Date: 22.03.2013
This document describes the following
product:

C-863.11
Mercury DC Motor Controller, 1 Channel,
with Wide-Range Power Supply
The detailed version of this user manual is
included as a PDF file on the product CD
and can be downloaded from our website.

Physik Instrumente (PI) GmbH & Co. KG is the owner of the following trademarks:
PI®, PIC®, PICMA®, Picoactuator®, PIFOC®, PILine®, PInano®, PiezoWalk®,
NEXACT®, NEXLINE®, NanoCube®, NanoAutomation®
The following designations are protected company names or registered trademarks of
third parties:
Microsoft, Windows, LabVIEW
© 2013 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text,
photographs and drawings in this manual are protected by copyright. With regard
thereto, Physik Instrumente (PI) GmbH & Co. KG retains all the rights. Use of said
text, photographs and drawings is permitted only in part and only upon citation of the
source.
Original instructions
First printing: 22.03.2013
Document number: MS205Equ, BRo, version 2.0.0
Subject to change without notice. This manual is superseded by any new release. The
latest release is available for download (http://www.pi.ws) on our website.

1About this Document 1
1.1 Goal and Target Audience of this User Manual ...................................................1
1.2 Symbols and Typographic Conventions...............................................................2
1.3 Definition...............................................................................................................3
1.4Other Applicable Documents................................................................................4
1.5 Downloading Manuals ..........................................................................................5
2Safety 7
2.1 Intended Use ........................................................................................................7
2.2 General Safety Instructions..................................................................................7
2.2.1 Organizational Measures....................................................................8
2.2.2 Safety Measures during Installation ...................................................8
2.2.3 Safety Measures during Start-Up.......................................................9
2.2.4 Safety Measures during Operation.....................................................9
2.2.5 Safety Measures during Maintenance..............................................10
3Product Description 11
3.1 Features and Applications..................................................................................11
3.2 Model Overview..................................................................................................13
3.3 Product View.......................................................................................................13
3.3.1 Front Panel.......................................................................................13
3.3.2 Rear Panel........................................................................................14
3.4 Scope of Delivery ...............................................................................................15
3.5 Accessories ........................................................................................................16
3.6 Functional Principles ..........................................................................................17
3.7 Communication Interfaces..................................................................................18
3.8 Overview of PC Software ...................................................................................18
3.9 Stage Databases................................................................................................20
4Unpacking 21
5Quick Start 23
6Installation 29
6.1 Installing the PC Software..................................................................................29
6.1.1 Performing the Initial Installation ......................................................29
6.1.2 Installing Updates.............................................................................30
Contents

6.1.3 Installing a Custom Stage Database................................................32
6.2 Mounting the C-863............................................................................................33
6.3 Grounding the C-863..........................................................................................34
6.4 Connecting the Power Supply to the C-863 .......................................................34
6.5 Connecting the Stage.........................................................................................35
6.6 Connecting the PC .............................................................................................36
6.6.1 Connecting to the RS-232 Interface.................................................36
6.6.2 Connecting to the USB Interface......................................................37
6.6.3 Setting Up a Daisy Chain Network...................................................37
6.7 Connecting an analog joystick - see detailed manual........................................38
6.8 Connecting digital in- and outputs - see detailed manual ..................................38
6.9 Connecting signal sources - see detailed manual..............................................39
7Start-Up 41
7.1 General Notes on Start-Up.................................................................................41
7.2 Adapting the DIP Switch Settings.......................................................................42
7.2.1 General Procedure ...........................................................................42
7.2.2 Controller Address............................................................................43
7.2.3 Baud Rate.........................................................................................44
7.2.4 Logic Level of the Limit Switches .....................................................44
7.2.5 Update Mode....................................................................................45
7.3 Switching on the C-863 ......................................................................................45
7.4 Establishing Communication..............................................................................46
7.4.1 Establishing Communication via RS-232 .........................................46
7.4.2 Establishing Communication via USB..............................................48
7.4.3 Establishing Communication for a Networked Controller.................49
7.5 Starting Motions..................................................................................................55
7.6 Recording the Step Response............................................................................60
7.7 Optimizing the Servo-Control Parameters..........................................................64
8Operation 67
8.1 Motion errors - see detailed user manual...........................................................67
8.2 Data Recorder - see detailed user manual.........................................................67
8.3 Digital output signals - see detailed user manual...............................................67
8.4 Digital input signals - see detailed user manual.................................................67
8.5 Analog Input Signals - see detailed user manual...............................................68
8.6 Joystick control - see detailed user manual .......................................................68
8.7 Controller Macros - see detailed user manual....................................................68
9GCS Commands 69
9.1 GCS Syntax for Syntax Version 2.0 - see detailed user manual........................69
9.2 Target and sender address - see detailed user manual.....................................69
9.3 Variables - see detailed user manual.................................................................69
9.4 Command Overview...........................................................................................70
9.5 Error Codes - see detailed user manual.............................................................74

10 Adapting Settings 75
10.1 Changing Parameters in the C-863....................................................................75
10.2 Creating or Modifying a Stage Type...................................................................78
10.3 Parameter Overview - see detailed user manual...............................................81
11 Maintenance 83
11.1 Cleaning the C-863.............................................................................................83
11.2 Updating Firmware - see detailed user manual..................................................83
12 Troubleshooting 85
13 Customer Service 91
14 Technical Data 93
14.1 Specifications......................................................................................................93
14.1.1 Data Table........................................................................................93
14.1.2 Maximum Ratings.............................................................................94
14.1.3 Ambient Conditions and Classifications ...........................................95
14.2 System Requirements ........................................................................................96
14.3 Dimensions.........................................................................................................96
14.4 Pin Assignment...................................................................................................97
14.4.1 DC Motor only...................................................................................97
14.4.2 I/O.....................................................................................................98
14.4.3 C-170.IO Cable for Connecting to the I/O Socket............................98
14.4.4 Joystick.............................................................................................99
14.4.5 C-819.20Y Cable for C-819.20 Joystick.........................................100
14.4.6 RS-232 In and RS-232 Out ............................................................101
14.4.7 Power Supply Connection 15-30 VDC ...........................................102
15 Old Equipment Disposal 103
16 EC Declaration of Conformity 105

1 About this Document
C-863 Mercury Controller MS205Equ Version: 2.0.0 1
In this Chapter
Goal and Target Audience of this User Manual ............................................................ 1
Symbols and Typographic Conventions........................................................................ 2
Definition........................................................................................................................ 3
Other Applicable Documents......................................................................................... 4
Downloading Manuals................................................................................................... 5
1.1 Goal and Target Audience of this User Manual
The short version of the MS205E user manual includes the following information on
the intended use of the C-863:
Product description and technical data of the C-863
Installation instructions for the C-863
Start-up instructions for the C-863
Command overview
Instructions for adapting settings
Cleaning instructions for the C-863
Overview for troubleshooting
In the detailed MS205E user manual, which is included as a PDF file on the product
CD, you can find all other information and instructions regarding operation and
maintenance as well as command and parameter descriptions. This short version
refers to information that is only included in the detailed version of the user manual.
It assumes that the reader has a fundamental understanding of basic servo systems
as well as motion control concepts and applicable safety procedures.
The latest versions of the user manuals are available for download (p. 5) on our
website.
If you have questions, contact our customer service department (p. 91).
1
About this Document

1 About this Document
2Version: 2.0.0 MS205Equ C-863 Mercury Controller
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to the equipment.
Actions to take to avoid the situation.
INFORMATION
Information for easier handling, tricks, tips, etc.
Symbol/Label Meaning
1.
2. Action consisting of several steps whose sequential order
must be observed
Action consisting of one or several steps whose sequential
order is irrelevant
 List item
p. 5 Cross-reference to page 5
RS-232 Labeling of an operating element on the product (example:
socket of the RS-232 interface)
Warning sign on the product which refers to detailed
information in this manual.
Start > Settings Menu path in the PC software (example: to open the menu,
the Start and Settings menu items must be clicked in
succession)
SVO?
Command line or a command from PI's General Command
Set (GCS) (example: command to get the servo mode).
Device S/N Parameter name (example: parameter where the serial
number is stored)
5Value that must be entered or selected via the PC software

1 About this Document
C-863 Mercury Controller MS205Equ Version: 2.0.0 3
1.3 Definition
Term Explanation
PC software Software that is installed on the PC.
Firmware Software that is installed on the controller.
Volatile memory RAM module in which the parameters are saved when the controller is switched
on (working memory).
Non-volatile
memory EEPROM memory chip (read-only memory), from which the default values of the parameters are loaded to the volatile memory when the controller is started.
Axis Also referred to as "logical axis". The logical axis reflects the motion of the stage
in the firmware of the C-863. For stages that allow motion in several directions
(e. g. in X, Y and Z), each direction of motion corresponds to a logical axis.
Stage Mechanical system connected to the C-863. For stages having just one motion
axis the designation "axis" is synonymous with "stage". Stages that allow motion
in several axes are also designated as "multiaxis stages". For these stages, a
distinction must be made between the individual axes.
In this manual, actuators, i. e. drive components without a moving platform (e. g.
precision linear actuators), are designated as stages as well.
Daisy chain Wiring diagram by which one controller is connected to the next in sequence
(series connection principle). Here the first controller is connected directly to the
PC. The additional controllers are always connected to the ones that precede
them so that a chain is formed. The signal to and from a controller goes to the
PC via the previous controllers.
Incremental
position sensor Sensor (encoder) for capturing changes of position or changes of angle. Signals from the incremental position sensor are used for axis position feedback. After
switching on the controller a reference point definition must be performed before
absolute target positions can be commanded and reached.
Control value The control value is the input for the PWM converter of the C-863. The PWM
converter converts the control value into the PWM signal for the stage.
Dynamics profile Comprises the target position, velocity, and acceleration of the axis calculated
by the profile generator of the C-863 for any point in time of the motion. The
calculated values are called "commanded values".
GCS PI General Command Set; command set for PI controllers. Piezo drivers and
servo controllers can be operated conjointly with minimal programming effort
thanks to the GCS.

1 About this Document
4Version: 2.0.0 MS205Equ C-863 Mercury Controller
1.4 Other Applicable Documents
The devices and software tools which are mentioned in this documentation are
described in their own manuals.
Description Document
Detailed user manual for the C-863.11 MS205E User Manual
Mercury GCS
LabVIEW driver library MS206E Software Manual
PI GCS 2.0 DLL for C-x63.11 MS212E Software Manual
GCS array
data format description SM146E Software Manual
PIMikroMove SM148E Software Manual
PIStageEditor
software for the management of stage
databases
SM144E Software Manual
PI Update Finder: Search and
download updates A000T0028 Technical Note
PI Update Finder: Updating PC without
Internet connection A000T0032 Technical Note
Adapting software that was written for
C-863.10 for use with C-863.11 A000T0029 Technical Note
INFORMATION
Model C-663.11 intended for operation with stepper motors is described in a
separate manual (MS208E).