PI E-871.1A1N User manual

PZ285EN ‒ 1/30/2019
User Manual
E-871.1A1N DIGITAL CONTROLLER FOR Q-MOTION® AND PIEZOMIKE PIEZO INERTIA DRIVES
MOTION | POSITIONING

Contents
1 Legal Information.........................................................................................................6
2 About this Document..................................................................................................8
2.1 Objective and Target Group..............................................................................8
2.2 Other Applicable Documents............................................................................8
2.3 Explanation of Symbols....................................................................................8
2.3.1 Typographic Conventions................................................................. 9
2.3.2 Symbols Used.................................................................................... 9
2.4 Figures................................................................................................................9
2.5 Downloading Manuals.................................................................................... 10
3 Safety.......................................................................................................................... 11
3.1 Intended Use.................................................................................................... 11
3.2 General Safety Instructions.............................................................................11
3.3 Organizational Measures.................................................................................11
3.3.1 User Manual..................................................................................... 11
3.3.2 General Personnel Qualification..................................................... 11
4 Product Description................................................................................................... 12
4.1 Front Panel....................................................................................................... 12
4.2 Type Plate......................................................................................................... 14
4.3 Scope of Delivery.............................................................................................14
4.4 Accessories...................................................................................................... 15
4.5 Communication Interfaces..............................................................................15
4.5.1 Controlling PI Systems.................................................................... 15
4.5.2 E-871.1A1N Interfaces......................................................................16
4.6 Software Overview.......................................................................................... 17
4.7 Positioner Database.........................................................................................19
4.8 ID Chip Detection.............................................................................................20
4.9 Functional Principles of the E-871.1A1N........................................................ 20
4.9.1 Block Diagram.................................................................................. 20
4.9.2 Important Firmware Components.................................................. 21
4.9.3 Commandable Items....................................................................... 23
4.9.4 Operating Modes............................................................................. 26
4.9.5 Physical Units...................................................................................31
4.9.6 Triggering Motion............................................................................ 32
4.9.7 Servo Algorithm and Other Control Value Corrections................ 35
4.9.8 On-Target State................................................................................ 36
4.9.9 Reference Point Switch Detection...................................................37
4.9.10 Limit Switch Detection.....................................................................38
4.9.11 Travel Range and Soft Limits.......................................................... 38
4.9.12 Reference Point Definition...............................................................40
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5 Unpacking / Transportation...................................................................................... 43
5.1 Unpacking........................................................................................................ 43
5.2 Transportation..................................................................................................43
6 Installation................................................................................................................. 44
6.1 Mounting the E-871.1A1N............................................................................... 44
6.2 Connecting the E-871.1A1N to the Protective Earth Conductor...................45
6.3 Connecting the Power Supply to the E-871.1A1N.........................................46
6.4 Connecting the Positioner to the E-871.1A1N............................................... 46
6.5 Installing the PC Software...............................................................................46
6.5.1 Installing the PC Software for the First Time.................................46
6.5.2 Updating the PC Software...............................................................47
6.6 Connecting the PC........................................................................................... 51
6.6.1 Connecting the E-871.1A1N to a PC................................................51
6.6.2 Integrating into E-871.1A1N a Network..........................................52
7 Startup / Operation................................................................................................... 53
7.1 Switching on the E-871.1A1N..........................................................................53
7.2 Establishing Communication with the PC..................................................... 53
7.2.1 Establishing Communication via RS-232.......................................53
7.2.2 Establishing Communication via USB........................................... 54
7.2.3 Establishing Communication via TCP/IP........................................55
7.3 Starting Motion................................................................................................58
7.4 Adapting the Dynamic Characteristics of the System.................................. 62
7.4.1 Adjusting the Notch Filter............................................................... 62
7.4.2 Optimizing the Servo Control Parameters..................................... 67
7.5 Making Data Backups...................................................................................... 70
7.5.1 Saving Parameter Values................................................................ 71
7.5.2 Saving Controller Macros............................................................... 71
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8 E-871.1A1N Functions............................................................................................... 73
8.1 Protective Functions of the E-871.1A1N.........................................................73
8.1.1 Protection Against Overheating......................................................73
8.1.2 Behavior During System Errors......................................................73
8.1.3 Restoring Operational Readiness................................................... 73
8.1.4 Commands....................................................................................... 73
8.1.5 Parameters ...................................................................................... 73
8.2 Data Recorder...................................................................................................74
8.2.1 Setting up the Data Recorder.......................................................... 74
8.2.2 Starting Data Recording.................................................................. 74
8.2.3 Reading Out Recorded Data............................................................75
8.2.4 Commands....................................................................................... 75
8.2.5 Parameters ...................................................................................... 75
8.3 Digital Inputs and Outputs..............................................................................75
8.3.1 Connecting the Digital Outputs.......................................................76
8.3.2 Connecting the Digital Inputs..........................................................76
8.3.3 Digital Output Signals......................................................................76
8.3.4 Digital Input Signals........................................................................ 80
8.3.5 Commands....................................................................................... 81
8.3.6 Parameters ...................................................................................... 81
8.4 Analog Input Signals.......................................................................................84
8.4.1 Connecting Analog Signal Sources................................................84
8.4.2 Commands....................................................................................... 85
8.4.3 Parameters ...................................................................................... 85
8.5 Controlling with HID........................................................................................85
8.5.1 Operating Principle.......................................................................... 85
8.5.2 HID Control Configuration...............................................................86
8.5.3 Programming HID Control.............................................................. 86
8.5.4 Connecting an HID........................................................................... 86
8.5.5 Testing the HID and Calibrating the Axes...................................... 87
8.5.6 Setting Up and Activating HID Control.......................................... 91
8.5.7 Commands....................................................................................... 92
8.5.8 Parameters ...................................................................................... 93
8.6 Controller Macros............................................................................................93
8.6.1 Recording Macros............................................................................94
8.6.2 Running the Macros........................................................................ 95
8.6.3 Stopping the Macros....................................................................... 96
8.6.4 Configuring a Startup Macro.......................................................... 97
8.6.5 Deleting Macros............................................................................... 97
8.6.6 Saving and Loading Macros........................................................... 97
8.6.7 Example Macros.............................................................................. 98
8.6.8 Commands......................................................................................101
8.6.9 Parameters .....................................................................................102
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8.7 Working with GCS Commands.....................................................................102
8.7.1 GCS Command Syntax..................................................................102
8.7.2 Variables......................................................................................... 103
8.8 Adapting Settings.......................................................................................... 104
8.8.1 Parameter Commands...................................................................104
8.8.2 Saving Parameter Values in a Text File........................................ 105
8.8.3 Changing Parameter Values.......................................................... 106
8.8.4 Creating or Changing Parameter Sets for Positioners................ 107
9 Command Reference................................................................................................113
10 Parameter Reference............................................................................................... 169
11 Maintenance.............................................................................................................210
11.1 Cleaning..........................................................................................................210
11.2 Updating the Firmware................................................................................. 210
12 Troubleshooting....................................................................................................... 214
13 Customer Service Department............................................................................... 217
14 Technical Data.......................................................................................................... 218
14.1 Specifications.................................................................................................218
14.2 Maximum Ratings..........................................................................................219
14.3 Ambient Conditions and Classifications...................................................... 219
14.4 Dimensions.................................................................................................... 220
15 Old Equipment Disposal......................................................................................... 221
16 Appendix.................................................................................................................. 222
16.1 Pin Assignment..............................................................................................222
16.1.1 Axis Connector...............................................................................222
16.1.2 I/O Connector................................................................................. 223
16.1.3 C-170.IO Cable for Connecting to the I/O Socket.........................224
16.1.4 Joystick Connector.........................................................................224
16.1.5 RS-232 Connector.......................................................................... 225
16.1.6 Power Adapter Connector.............................................................225
17 EU Declaration of Conformity.................................................................................226
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1 Legal Information
The following company names and brands are registered trademarks of Physik Instrumente
(PI) GmbH & Co. KG:
PI®, PIC®, NanoCube®, PICMA®, PIFOC, PILine®, NEXLINE®, PiezoWalk®, PicoCube®,
PiezoMove®, PIMikroMove, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®,
PIMag®, PIHera, Q-Motion®
The patents held by PI can be found in our list at http://www.physikinstrumente.com/en/
about-pi/patents.
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.
EtherCAT is a registered and licensed brand of Beckhoff Automation GmbH.
LabVIEW® is a trademark ofNational 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.
Python® is a registered trademark of Python Software Foundation.
BiSS is a registered trademark of iC-Haus GmbH.
The following designations are protected company names, trademarks or registered
trademarks of other owners:
Linux, MATLAB, MathWorks
© 2019 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 reserves all rights. The use of any text, images and
drawings is permitted only in part and only when indicating the source.
Original instructions
First print: 1/30/2019
Document number: PZ285en, ASt
Subject to change. This manual is superseded by any new release. The latest versions of the
user manuals are available for download (p. 10) at www.pi.ws.
1 LEGAL INFORMATION PZ285EN ‒ 1/30/2019
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Publisher:
Physik Instrumente (PI) GmbH & Co. KG
Auf der Roemerstrasse 1
76228 Karlsruhe
Germany
[email protected]
www.pi.de
Customer service department:
Physik Instrumente (PI) GmbH & Co. KG
Auf der Roemerstrasse 1
76228 Karlsruhe
Germany
[email protected]
www.pi.de
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2 About this Document
2.1 Objective and Target Group
This user manual contains the information needed for the intended use of the E-871.1A1N.
Basic knowledge of closed-loop systems, motion control concepts, and applicable safety
measures is assumed.
2.2 Other Applicable Documents
The devices and software tools that are mentioned in this documentation are described in
separate manuals.
Document number Document type Product
SM148E Software Manual PIMikroMove
SM146E Software Manual GCS Array Data Format Description
SM151E Software Manual PI GCS 2.0 DLL0
SM155E Software Manual PI MATLAB Driver GCS 2.0
SM156E Software Manual PIStages3Editor: Software for the managing
the positioner database
A000T0028 Technical Note PI Update Finder: Searching for and down-
loading updates
A000T0032 Technical Note PI Update Finder: Updating the PC without an
Internet connection
The latest versions of the user manuals can be downloaded (p. 10) at www.pi.ws.
2.3 Explanation of Symbols
This chapter explains the symbols and markings used by PI in their user manuals.
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2.3.1 Typographic Conventions
Symbol / Label Meaning
1.
2.
Action consisting of several steps whose sequential order must be ob-
served
■ 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)
Start > Settings Menu path in the PC software (example: to open the menu, the Start
and Settings menus must be clicked successively)
POS? Command line or a command from PI's General Command Set (GCS)
(example: command to get the axis position)
Device S/N Parameter name (example: parameter where the serial number is stor-
ed)
5Value that must be entered or selected via the PC software
2.3.2 Symbols Used
Symbol / Label Meaning
General hazard symbol
Electrical voltage
CAUTION
Dangerous situation
Failure to observe can lead to minor injury.
►Actions to take to avoid the risk.
NOTICE
Dangerous situation
Failure to observe can lead to material damage.
►Action to take to avoid the risk.
Information
Additional information on the E-871.1A1N that can affect your application.
2.4 Figures
For better understandability, the colors, proportions and degree of detail in illustrations can
deviate from the actual circumstances. Photographic illustrations may also differ and must
not be seen as guaranteed properties.
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2.5 Downloading Manuals
The latest versions of the user manuals can be downloaded (p. 10) at www.pi.ws.
For products that are supplied with software (data storage device in the scope of delivery),
access to the manuals is protected by a password. Protected content is only displayed on the
website after entering the access data. You need the data storage device for the product to
get the access data.
If a manual is missing or problems occur with downloading, contact our customer service
department (p. 217).
Downloading Manuals
1. Open the website www.pi.ws.
2. If the product was shipped with a data storage device: Log into the website:
a) Click Login.
b) Enter the login data.
The login data is in the [...]_Releasenews_[...].pdf in the Manuals directory on the
data storage device.
If necessary: Follow the link and register yourself to get the login data.
c) Click Login or press the Enter key.
3. Search for the product:
a) Click Search.
b) Enter the product number up to the period (e.g., E-871) into the search field.
c) Click Start search or press the Enter key.
d) If necessary: Click Load more results at the bottom of the list.
4. Click the corresponding product in the list of search results.
5. Click the Downloads tab.
➔The manuals are shown under
Documentation .
6. Click the desired manual and save it.
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3 Safety
3.1 Intended Use
The E-871.1A1N is a laboratory device as defined by DIN EN 61010-1. It is intended for indoor
use and use in an environment that is free of dirt, oil, and lubricants.
In accordance with its design, the E-871.1A1N is intended to operate PI positioners that are
equipped with piezo inertia drives (Q-Motion®,PiezoMike). The E-871.1A1N is intended for
closed-loop operation with incremental position sensors. In addition, it can read and process
the reference point and limit switch signals from the connected positioner.
The E-871.1A1N may not be used for purposes other than those stated in this user manual. In
particular, the E-871.1A1N may not be used to drive ohmic or inductive loads.
3.2 General Safety Instructions
The E-871.1A1N is built according to state-of-the-art technology and recognized safety
standards. Improper use of the E-871.1A1N may result in personal injury and/or damage to
the E-871.1A1N.
►Use the E-871.1A1N only for its intended purpose and if it is in perfect condition.
►Read the user manual.
►Eliminate any faults and malfunctions that are likely to affect safety immediately.
The operator is responsible for correct installation and operation of the E-871.1A1N.
►Install the E-871.1A1N near the power adapter so that the power plug can be quickly and
easily disconnected from the mains.
►Use the components supplied to connect the E-871.1A1N to the power supply.
►If one of the supplied components for connecting to the power supply has to be replaced,
use a sufficiently dimensioned component.
►Only use cables and connections that comply with local safety regulations.
3.3 Organizational Measures
3.3.1 User Manual
►Always keep this user manual available with the E-871.1A1N. The latest versions of the
user manuals can be downloaded (p. 10) at www.pi.ws.
►Add all information from the manufacturer such as supplements or technical notes to the
user manual.
►If you give the E-871.1A1N to a third party, also include this user manual as well as 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 result in minor injury and damage to equipment.
►Only install and operate the E-871.1A1N after you have read and understood this user
manual.
3.3.2 General Personnel Qualification
The E-871.1A1N may only be installed, started up, operated, maintained, and cleaned by
authorized and appropriately qualified personnel.
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4 Product Description
4.1 Front Panel
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Element Labeling Type Function
Power Toggle switch On/Off switch
O: E-871.1A1N switched off
—: E-871.1A1N switched on
SPI Display port Serial connection to a serial peripher-
al interface (SPI) master unit
If you want to use the SPI connection,
contact our customer service depart-
ment (p. 217).
Ethernet RJ45 Ethernet interface for communication
via TCP/IP
RS-232 D-sub 9
(m) (p. 225)
Serial connection to PC
24 VDC
2.5 A
Barrel connector-
socket (p. 225)
Connector for the supply voltage
Status LED Controller state:
Green - continuous illumination:
E-871.1A1N ready for normal opera-
tion
Green - flashing: E-871.1A1N in firm-
ware update mode
Red: Error
Off: E-871.1A1N not connected to the
supply voltage
Mini-B USB Universal serial bus for connection to
the PC
I / O Mini-DIN 9
(f) (p. 223)
Digital inputs/outputs, analog inputs
Joystick Mini-DIN 6
(f) (p. 224)
Connector for analog HID (Human In-
terface Device), e.g., joystick
Motor &
Sensor
0 V to 100 V
D-sub 15
(f) (p. 222)
Connector for positioning axis
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4.2 Type Plate
Figure 1: Type plate of the E-871.1A1N
1. Data matrix code (example; contains the serial number)
2. Product number (example)
3. Serial number (example), individual for each E-871.1A1N
Meaning of the position (counting from the left):
1 = internal information,
2 and 3 = year of manufacture,
4 to 9 = consecutive numbers
4. Warning and conformity symbols (old equipment disposal (p. 221), CE mark (p. 226))
4.3 Scope of Delivery
Product number Description
E-871.1A1N Digital controller according to the order
C-501.24050H Wide range input power supply 24 V, 50 W
3763 Power cord
MS242EK Short instructions for digital motor control-
lers and drivers
C-815.34 RS-232 null modem cable, 3 m, 9/9-pin
000036360 USB cable (type A to Mini-B) for connection
to the PC
C-815.553 Straight-through network cable for connect-
ing the PC via a TCP/IP network
C-815.563 Crossover network cable for direct connec-
tion to the PC via TCP/IP
E-871.CD Product CD for the E-871.1A1N with software
and user manuals
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4.4 Accessories
Product number Description
C-819.JA Analog joystick for 2 axes, 3 programmable
buttons
C-819.20 Analog joystick for 2 axes
C-819.20Y Y cable for 2 controllers to C-819.20 joystick
C-819.30 Analog joystick for 3 axes
C-170.PB Pushbutton box with 4 buttons and 4 LEDs
C-170.IO I/O cable, 2 m, open end (p. 224)
To order, contact our customer service department (p. 217).
4.5 Communication Interfaces
4.5.1 Controlling PI Systems
Basically, PI systems can be controlled as follows:
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4.5.2 E-871.1A1N Interfaces
The E-871.1A1N can be controlled via the following communication interfaces:
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Communication interfaces
PC interfaces, via software (p. 17) or PI General Command Set:
TCP/IP
RS-232
USB
SPI
The interface parameters in the E-871.1A1N's nonvolatile memory can be queried with the
IFS? command and changed with the IFS command.
TCP/IP
E-871.1A1N's interface settings for TCP/IP communication:
Interface setting Factory setting Note
IP address format:
<IP address>:<port num-
ber>
(IPADR)
000.000.000.000:50
000
Is not used when an IP address is assigned
to the E-871.1A1N by a DHCP server (IP-
START = 1).
<port number> cannot be changed.
Subnet mask
(IPMASK)
24 Bit mask for subnet
Startup behavior for con-
figuring the IP address
for TCP/IP communica-
tion
(IPSTART)
0 0: The address defined by IPADR is used.
1: DHCP is used to get the E-871.1A1N's ad-
dress.
Gateway
(IPGTWAY)
000.000.000.000 Standard gateway for TCP/IP communica-
tion
MAC level address
(MACADR)
Invariable, unique network hardware ad-
dress.
RS-232
E-871.1A1N's interface settings for RS-232 communication:
Interface setting Factory setting Note
Baud rate
(RSBAUD)
115200 Possible values: 9600, 19200, 38400, 115200
To establish communication successfully, the
baud rates of the E-871.1A1N and PC must
match.
4.6 Software Overview
The following table shows the PC software that is included in the product CD. The specified
operating systems stand for the following versions:
■Windows: Versions 7, 8, 10 (32 Bit, 64 Bit)
■Linux: Kernel 2.6, GTK 2.0, from glibc 2.15
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PC software Operat-
ing sys-
tem
Short description Recommended use
PIMikroMove Win-
dows
Graphical user interface
for Windows, which can
be used for controllers
from PI:
■Start the system
without program-
ming effort
■Graphic representa-
tion of the motion
■Macro functionality
for storing command
sequences on the PC
(host macros)
■Complete environ-
ment for command
entry
PIMikroMove uses the
dynamic program li-
brary to supply com-
mands to the controller.
For users who want to per-
form simple automation tasks
or test their equipment before
or instead of programming an
application.
No command knowledge is
necessary to operate PIMikro-
Move.
A log window showing the
commands sent makes it pos-
sible to learn how to use the
commands.
Dynamic program-
libraries for GCS
Win-
dows,Li-
nux
Allows software pro-
gramming of the
E-871.1A1N with pro-
gramming languages
such as C++. The func-
tions in dynamic pro-
gram libraries are based
on the PI General Com-
mand Set (GCS).
For users who would like to
use a dynamic program li-
brary for their application.
Is required for PIMikroMove.
Is required for NI LabVIEW
drivers if communication is to
be established via USB (with
Linux only via virtual COM
port) or a daisy chain network.
NI LabVIEW drivers Win-
dows,Li-
nux
NI LabVIEW is a soft-
ware for data acquisi-
tion and process control
(must be ordered sepa-
rately from National In-
struments). The
E-871.1A1N NI LabVIEW
software of PI is a col-
lection of virtual instru-
ment drivers (VI drivers)
for the E-871.1A1N con-
troller. These drivers
support the GCS.
For users who want to use NI
LabVIEW to program their ap-
plication.
NI LabVIEW Merge
Tool
Win-
dows
The NI LabVIEW Merge
Tool allows you to com-
bine product-specific NI
LabVIEW drivers from
PI with each other.
For users who want to oper-
ate several products from PI
at the same time while using
NI LabVIEW.
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PC software Operat-
ing sys-
tem
Short description Recommended use
MATLAB drivers Win-
dows
MATLAB is a develop-
ment environment and
programming language
for numerical calcula-
tions (must be ordered
separately from Math-
Works).
The PIMATLAB driver
consists of a MATLAB
class that can be inclu-
ded in any MATLAB
script. This class sup-
ports the PI General
Command Set.
The PI MATLAB driver
does not require and
additionalMATLAB tool
boxes.
For users who want to use
MATLAB to program their ap-
plication.
PIStages3Editor Win-
dows
Program opening and
editing positioner data-
bases in .db format.
For users who want to deal
with the contents of position-
er databases more intensive-
ly.
PITerminal Win-
dows,Li-
nux
Simple user interface
that can be used for
nearly all PI controllers.
For users who want to send
GCS commands directly to
the controller.
PI Firmware Updat-
er
Win-
dows
Program for updating
the firmware of the
E-871.1A1N.
For users who want to update
the firmware.
PIUpdateFinder Win-
dows
Checks the PI software
installed on the PC. If
newer versions of the
PC software are availa-
ble on the PI server,
they are offered for
download.
For users who want to update
the PC software.
USB driver Win-
dows
Driver for the USB inter-
face
For users who want to con-
nect the controller to the PC
via the USB interface.
4.7 Positioner Database
You can select a parameter set appropriate for your positioner from a positioner database in
the PC software from PI. The software transfers the values of the selected parameter set to
the volatile or nonvolatile memory of the controller.
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Database file name Description
PISTAGES3.DB Delivery includes parameter sets for all standard positioners
from PI and PI miCos, and is saved to the PC automatically
during installation of the PC software. New parameter sets
can be created, edited, and saved.
Product code.db Includes the parameter set for the custom positioner "prod-
uct code". In order for the parameter set to be selectable in
the PC software, it must be imported into PISTAGES3.DB first.
The positioner database only contains some of the information that is required to operate a
positioner with the E-871.1A1N. When the the positioner connected to the E-871.1A1N is
equipped with an ID chip: Further information is loaded as parameter values from the ID chip
to the volatile memory of the E-871.1A1N when the E-871.1A1N is switched on or rebooted.
4.8 ID Chip Detection
PI positioners with DC motor have an ID chip in the connector where the following data is
stored as parameters:
■Information on the positioner: Type, serial number, date of manufacture, version of the
hardware
■Signal type output by the position sensor
The data of the connected positioner is loaded from the ID chip into the volatile memory of
the E-871.1A1N when the E-871.1A1N is switched on or rebooted.
The ID chip only contains some of the information that is required to operate the positioner
with the E-871.1A1N. When you use the PC software from PI, further information is loaded as
parameter values from a positioner database into the volatile memory of the E-871.1A1N.
The parameter values in the E-871.1A1N's volatile memory can be queried and written to the
nonvolatile memory (see: Adapting Settings (p. 104)).
4.9 Functional Principles of the E-871.1A1N
4.9.1 Block Diagram
The E-871.1A1N controls the motion of a positioner's logical axis. The following block
diagram shows how the E-871.1A1N generates the piezo voltage for the axis connected:
4 PRODUCT DESCRIPTION PZ285EN ‒ 1/30/2019
20 MOTION | POSITIONING