PI MS249E User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone [phone], Fax [phone], Email [email protected], www.pi.ws
MS249E
C-863.12 Mercury Controller
User Manual
Version: 1.2.1
Date: 19.10.2021
This document describes the following product:
▪C-863.12
Mercury servo controller, for DC motors and
PWM motor driver, 1 axis, HD D-sub 26, USB,
RS-232, I/O, connector for analog joystick

The following company names and brands are registered trademarks of Physik Instrumente (PI) GmbH & Co.
KG:
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.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
TwinCAT® is a registered trademark of and licensed by Beckhoff Automation GmbH.
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.
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
The patents held by PI are found in our patent list: https://www.physikinstrumente.com/en/about-pi/patents
The software products provided by PI are subject to the General Software License Terms of Physik
Instrumente (PI) GmbH & Co. KG and may contain and/or use third-party software components. Further
information can be found in the General Software License Terms
(https://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf) and in the
Third-Party Software Notes
(https://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf) on our
website.
© 2021 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs, and drawings in
this manual are protected by copyright. Physik Instrumente (PI) GmbH & Co. KG reserves all rights in this
respect. The use of any text, images and drawings is permitted only in part and only when indicating the
source.
Original instructions
First printing: 19.10.2021
Document number: MS249E, ASt, Version 1.2.1
Subject to change. This manual is superseded by any new release. The latest respective release is available for
download on our website (https://www.pi.ws).

1About this Document 1
1.1 Objective and Target Audience of this User Manual.................................................. 1
1.2 Symbols and Typographic Conventions...................................................................... 1
1.3 Definition of Terms..................................................................................................... 2
1.4 Figures ........................................................................................................................ 3
1.5 Other Applicable Documents ..................................................................................... 3
1.6 Downloading Manuals................................................................................................ 4
2Safety 5
2.1 Intended Use .............................................................................................................. 5
2.2 General Safety Instructions........................................................................................ 5
2.3 Organizational Measures............................................................................................ 6
3Product Description 7
3.1 Product View .............................................................................................................. 7
3.1.1 Front Panel .................................................................................................... 7
3.1.2 Rear Panel...................................................................................................... 8
3.2 Type Plate................................................................................................................... 9
3.3 Scope of Delivery........................................................................................................ 9
3.4 Accessories ............................................................................................................... 10
3.5 Functional Principles ................................................................................................ 11
3.5.1 Block Diagram.............................................................................................. 11
3.5.2 Motor Control.............................................................................................. 11
3.5.3 Commandable Elements.............................................................................. 12
3.5.4 Important Components of the Firmware.................................................... 14
3.5.5 Operating Modes......................................................................................... 15
3.5.6 Physical Units............................................................................................... 15
3.5.7 Motion Triggering........................................................................................ 17
3.5.8 Generating a Dynamics Profile .................................................................... 18
3.5.9 Servo Algorithm and Other Control Value Corrections............................... 21
3.5.10 On-Target State ........................................................................................... 23
3.5.11 Reference Switch Detection ........................................................................ 24
3.5.12 Limit Switch Detection................................................................................. 24
3.5.13 Travel Range and Soft Limits ....................................................................... 25
3.5.14 Referencing.................................................................................................. 28
3.6 Communication Interfaces ....................................................................................... 33
3.6.1 Controlling PI Systems................................................................................. 33
3.6.2 C-863.12 Communication Interfaces........................................................... 34
3.7 Overview of PC Software.......................................................................................... 34
Contents

3.8 Positioner Databases................................................................................................ 36
4Unpacking 37
5Installation 39
5.1 Installing the PC Software ........................................................................................ 39
5.1.1 Doing Initial Installation............................................................................... 39
5.1.2 Installing Updates........................................................................................ 40
5.1.3 Installing Custom Positioner Databases ...................................................... 41
5.2 Mounting the C-863.12 ............................................................................................ 42
5.3 Grounding the C-863.12........................................................................................... 43
5.4 Connecting the Positioner........................................................................................ 43
5.5 Connecting the PC .................................................................................................... 44
5.5.1 Connecting to the RS-232 Interface ............................................................ 44
5.5.2 Connecting to the USB Interface ................................................................. 45
5.5.3 Building a Daisy Chain Network................................................................... 46
5.6 Connecting the Power Supply to the C-863.12 ........................................................ 47
5.7 Connecting an Analog Joystick ................................................................................. 48
5.8 Connecting Digital Inputs and Outputs .................................................................... 49
5.8.1 Connecting the Digital Outputs ................................................................... 49
5.8.2 Connecting the Digital Inputs ...................................................................... 49
5.9 Connecting Analog Signal Sources............................................................................ 50
6Startup 51
6.1 General Notes on Startup......................................................................................... 51
6.2 Adapting the DIP Switch Settings ............................................................................. 51
6.2.1 General Procedure....................................................................................... 51
6.2.2 Controller Address....................................................................................... 52
6.2.3 Baud Rate..................................................................................................... 53
6.3 Switching the C-863.12 On....................................................................................... 54
6.4 Establishing Communication.................................................................................... 55
6.4.1 Establishing Communication via RS-232...................................................... 55
6.4.2 Establishing Communication via USB .......................................................... 56
6.4.3 Establishing Communication for Networked Controllers............................ 58
6.5 Starting Motion ........................................................................................................ 62
6.6 Optimizing the Servo Control Parameters ............................................................... 66
7Operation 73
7.1 Motion Errors ........................................................................................................... 73
7.1.1 Behavior with Motion Errors....................................................................... 73
7.1.2 Re-establishing Readiness for Operation .................................................... 74
7.2 Data Recorder........................................................................................................... 74

7.2.1 Configuring the Data Recorder.................................................................... 74
7.2.2 Starting the Recording................................................................................. 76
7.2.3 Reading Recorded Data............................................................................... 76
7.3 Digital Output Signals............................................................................................... 76
7.3.1 Commands for Digital Outputs.................................................................... 76
7.3.2 Configuring the "Position Distance" Trigger Mode ..................................... 78
7.3.3 Configuring the "On Target" Trigger Mode ................................................. 80
7.3.4 Configuring the "Motion Error" Trigger Mode ............................................ 80
7.3.5 Configuring the "In Motion" Trigger Mode ................................................. 80
7.3.6 Configuring the "Position + Offset" Trigger Mode ...................................... 81
7.3.7 Configuring the "Single Position" Trigger Mode.......................................... 82
7.3.8 Setting Signal Polarity.................................................................................. 83
7.4 Digital Input Signals.................................................................................................. 84
7.4.1 Commands and Parameters for Digital Inputs ............................................ 84
7.4.2 Using Digital Input Signals in Macros .......................................................... 86
7.4.3 Using Digital Input Signals as Switch Signals ............................................... 86
7.5 Analog Input Signals ................................................................................................. 88
7.5.1 Commands for Analog Inputs...................................................................... 88
7.5.2 Using Analog Input Signals in Macros.......................................................... 89
7.6 Joystick Control ........................................................................................................ 89
7.6.1 How Joystick Control Works........................................................................ 89
7.6.2 Commands and Parameters for Joystick Control ........................................ 90
7.6.3 Controlling Axis Motion............................................................................... 91
7.6.4 Calibrating the Joystick................................................................................ 92
7.6.5 Joysticks Available ....................................................................................... 95
7.7 Controller Macros..................................................................................................... 97
7.7.1 Overview: Macro Functionality and Example Macros................................. 97
7.7.2 Commands and Parameters for Macros...................................................... 98
7.7.3 Working with Macros .................................................................................. 99
7.7.4 Making Backups and Loading Controller Macros...................................... 107
7.7.5 Macro Example: Synchronization of Two Controllers ............................... 108
7.7.6 Macro Example: Stopping Motion by Pushbutton .................................... 109
7.7.7 Macro Example: Joystick Control with Storage of Positions ..................... 110
7.7.8 Macro Example: Joystick Control with Change in Velocity........................ 113
8GCS Commands 115
8.1 Notation.................................................................................................................. 115
8.2 GCS Syntax for Syntax Version 2.0 ......................................................................... 115
8.3 Target and Sender Address .................................................................................... 117
8.4 Variables................................................................................................................. 118
8.5 Command Overview............................................................................................... 120
8.6 Command Descriptions for GCS 2.0 ....................................................................... 126
8.7 Error Codes............................................................................................................. 207

9Adapting Settings 231
9.1 Settings of the C-863.12......................................................................................... 231
9.2 Changing Parameter Values in the C-863.12.......................................................... 231
9.2.1 General Commands for Parameters.......................................................... 232
9.2.2 Commands for Fast Access to Individual Parameters ............................... 232
9.2.3 Saving Parameter Values in a Text File...................................................... 233
9.2.4 Changing Parameter Values: General Procedure...................................... 234
9.3 Creating or Changing a Positioner Type ................................................................. 236
9.4 Parameter Overview............................................................................................... 239
10 Maintenance 249
10.1 Cleaning the C-863.12 ............................................................................................ 249
10.2 Updating Firmware................................................................................................. 249
11 Troubleshooting 255
12 Customer Service 259
13 Technical Data 261
13.1 Specifications.......................................................................................................... 261
13.1.1 Data Table.................................................................................................. 261
13.1.2 Maximum Ratings...................................................................................... 263
13.1.3 Ambient Conditions and Classifications .................................................... 263
13.2 Dimensions............................................................................................................. 264
13.3 Pin Assignment....................................................................................................... 265
13.3.1 Motor......................................................................................................... 265
13.3.2 I/O.............................................................................................................. 266
13.3.3 C-170.IO Cable for Connecting to the I/O Socket...................................... 267
13.3.4 Joystick....................................................................................................... 268
13.3.5 C-819.20Y Cable for C-819.20 Joystick ...................................................... 268
13.3.6 RS-232 In and RS-232 Out.......................................................................... 269
13.3.7 Power Adapter Connector......................................................................... 270
14 Old Equipment Disposal 271
15 European Declarations of Conformity 273

1 About this Document
C-863.12 Mercury Controller MS249E Version: 1.2.1 1
1.1 Objective and Target Audience of this User Manual
This user manual contains the information required for using the C-863.12 as intended.
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. 4) on our website.
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
NOTICE
Dangerous situation
Failure to comply could cause damage to equipment.
➢Precautionary measures for avoiding the risk.
INFORMATION
Information for easier handling, tricks, tips, etc.
Symbol/Label
Meaning
1.
2.
Action consisting of several steps with strict sequential
order
➢
Action consisting of one or more steps without relevant
sequential order
▪
Bullet
p. 5
Cross-reference to page 5
RS-232
Labeling of an operating element on the product
(example: socket of the RS-232 interface)
1About this Document

1 About this Document
2 Version: 1.2.1 MS249E C-863.12 Mercury Controller
Symbol/Label
Meaning
Warning sign on the product referring 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)
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 stored)
5
Value that must be entered or selected via the PC
software
1.3 Definition of Terms
Term
Explanation
Axis
Also referred to as "logical axis". The logical axis represents the motion
of the mechanics in the firmware of the C-863.12. For mechanics that
allow motion in several directions (e.g., in X, Y, and Z), each direction of
motion corresponds to a logical axis.
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.
Dynamics profile
Comprises the target position, velocity, and acceleration of the axis
calculated by the profile generator of the C-863.12 for any point in
time of the motion. The calculated values are called "commanded
values".
Firmware
Software that is installed on the controller.
Volatile memory
RAM module where the parameters are saved when the controller is
switched on (working memory). The parameter values in the volatile
memory determine the current behavior of the system.
The parameter values in the volatile memory are also referred to as
"Active Values" in the PC software from PI.
GCS
PI General Command Set; command set for PI controllers. Piezo drivers
and servo controllers can be operated together with minimal
programming effort thanks to GCS.
Incremental position
sensor
Sensor (encoder) for detecting changes of position or changes of angle.
Signals from the incremental position sensor are used for axis position

1 About this Document
C-863.12 Mercury Controller MS249E Version: 1.2.1 3
Term
Explanation
feedback. After the controller is switched on, referencing must be done
before absolute target positions can be commanded and reached.
PC software
Software installed on the PC.
Nonvolatile memory
Memory module (read-only memory, e.g., EEPROM or flash memory)
where the default values of the parameters are loaded to the volatile
memory when the controller is started.
The parameter values in the nonvolatile memory are also referred to as
"startup values" in the PC software from PI.
Positioner
Mechanics connected to the C-863.12. In the case of positioners with
just one motion axis, the designation "axis" is synonymous with
"positioner". Positioners that allow motion in several axes are also
designated as "multi-axis positioners". For these positioners, a
distinction must be made between the individual axes.
In this manual, actuators, i.e., drive components without a motion
platform (e.g., precision linear actuators), are designated as positioners
as well.
Control value
The control value is the input for the PWM converter of the C-863.12.
The PWM converter converts the control value into the PWM signal for
the axis of the positioner.
1.4 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.
1.5 Other Applicable Documents
The devices and software tools from PI mentioned in this documentation are described in
separate manuals.
Description
Document
Short instructions for the installation and
startup of the C-863.12
MS242EK Short Instructions for Digital Motor
Controllers
PI GCS driver library for use with NI LabVIEW
software
SM158E Software Manual
PI MATLAB Driver GCS 2.0
SM155E Software Manual
PI GCS 2.0 DLL
SM151E Software Manual
GCS array
SM146E Software Manual

1 About this Document
4 Version: 1.2.1 MS249E C-863.12 Mercury Controller
Description
Document
data format description
PIMikroMove
SM148E Software Manual
PIStages3Editor: Software for managing the
positioner database
SM156E Software Manual
PIUPdateFinder: Updating PI Software
User manual A000T0028
Downloading manuals from PI: PDF file with
links to the manuals for digital electronics and
software from PI. Supplied with the PI
software.
A000T0081 Technical Note
1.6 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
➢Contact our customer service department (p. 259).
Downloading Manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., P-882) or the product family (e.g.,
PICMA® bender).
3. Click the corresponding product to open the product detail page.
4. Click the Downloads tab.
The manuals are shown under Documentation. Software manuals are shown under
General Software Documentation.
5. Click the desired manual and fill out the inquiry form.
The download link will then be sent to the email address entered.

2 Safety
C-863.12 Mercury Controller MS249E Version: 1.2.1 5
2.1 Intended Use
The C-863.12 is a laboratory device as defined by DIN EN 61010. 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 C-863.12 is intended for operating PI positioners equipped
with DC motors or integrated PWM motor drivers.
The C-863.12 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 C-863.12 may only be used in compliance with the technical specifications and instructions
in this user manual. The user is responsible for process validation.
2.2 General Safety Instructions
The C-863.12 is built according to state-of-the-art technology and recognized safety standards.
Improper use can result in personal injury and/or damage to the C-863.12.
➢Use the C-863.12 for its intended purpose only, and only when it is in perfect technical
condition.
➢Read the user manual.
➢Eliminate any malfunctions that may affect safety immediately.
The operator is responsible for the correct installation and operation of the C-863.12.
➢Install the C-863.12 near the power supply so that the power plug can be quickly and
easily disconnected from the mains.
➢Use the components supplied (power supply and power cord) to connect the C-863.12
to the power supply.
➢If one of the components supplied for connecting to the power supply has to be
replaced, use a sufficiently rated component.
2Safety

2 Safety
6 Version: 1.2.1 MS249E C-863.12 Mercury Controller
2.3 Organizational Measures
User manual
➢Keep this user manual with the C-863.12 always.
The latest versions of the user manuals are available for download (p. 4) on our
website.
➢Add all manufacturer information such as supplements or technical notes to the user
manual.
➢If you give the C-863.12 to other users, also include this user manual as well as other
relevant information provided by the manufacturer.
➢Always work according to the complete user manual. The equipment can be damaged if
your user manual is incomplete and is therefore missing important information.
➢Install and operate the C-863.12 only after you have read and understood this user
manual.
Personnel qualification
The C-863.12 may only be installed, started up, operated, maintained, and cleaned by
authorized and appropriately qualified personnel.

3 Product Description
C-863.12 Mercury Controller MS249E Version: 1.2.1 7
3.1 Product View
3.1.1 Front Panel
Figure 1: Front panel of the C-863.12
Labeling
Type
Function
Mini-USB type B
Universal serial bus for connection to the PC; do not
connect if RS-232 In is already connected.
RS-232 In
D-sub 9 (m) (p. 269)
Serial connection to the PC or to the previous
controller in a daisy chain network; do not connect to
the PC if the USB interface is already connected.
RS-232 Out
D-sub 9 (f) (p. 269)
Serial connection to the subsequent controller in a
daisy chain network
STA
LED green
Controller state:
▪Lights up continuously: C-863.12 is ready for
normal operation
▪Flashing: C-863.12 is in firmware update mode
▪Off: C-863.12 is not connected to the supply
voltage
ERR
LED red
Error indicator:
▪On: Error (error code 0)
▪Off: No error (error code = 0)
The error code can be queried with the ERR?
command. The query resets the error code to zero
and the LED is switched off.
3Product Description

3 Product Description
8 Version: 1.2.1 MS249E C-863.12 Mercury Controller
Labeling
Type
Function
Mode
Baud
Addr
8-bit DIP switch (p.
51)
Setting of
▪Device address (Addr)
▪Baud rate for communication with the PC (Baud)
The switches 7and 8 (Mode) have no function.
3.1.2 Rear Panel
Figure 2: Rear panel of the C-863.12
Labeling
Type
Function
12 to 48 VDC
Max. 2 A
DC power socket
(Kycon), 4-pole (f),
lockable (p. 270)
Connector for the supply voltage
I/O
Mini-DIN, 9-pole (f)
(p. 266)
Digital inputs/outputs:
▪Outputs: Trigger external devices
▪Inputs: Use in macros or as switch signals
Analog inputs:
▪Use in macros or for scanning processes
Joystick
Mini-DIN, 6-pole (f )
(p. 268)
Connector for analog joystick
▪Inputs for signals from the joystick axes and
buttons
▪Output for the supply voltage of the joystick
Motor
HD D-sub 26 (f)
Positioner's connector
▪Output for the motor's control signals
▪Input of the signals of the incremental position
sensor
▪Signal input from the limit switches and reference
switch

3 Product Description
C-863.12 Mercury Controller MS249E Version: 1.2.1 9
Labeling
Type
Function
Screw and toothed
washer
Grounding the C-
863.12 (p. 43)
Ground connection
If potential equalization is required, the screw can be
connected to the grounding system.
3.2 Type Plate
Labeling
Function
Data matrix code (example; contains the serial number)
C-863.12
Product name
Manufacturer's logo
116056789
Serial number (example), individual for each C-863.12
Meaning of each position (from the left): 1 = internal
information, 2 and 3 = year of manufacture, 4 to 9 = consecutive
number
Country of origin: Germany
Country of origin
Warning sign "Pay attention to the manual!"
Old equipment disposal (p. 271)
CE conformity mark
WWW.PI.WS
Manufacturer's address (website)
3.3 Scope of Delivery
Item
Component
C-863.12
Controller
C-501.24120DIN4
Wide input range power supply 24 V 120 W, mini-DIN, 4-pin
3763
Power cord
000036360
USB cable (type A to mini B) for connecting to the PC
C-815.34
RS-232 null modem cable, 3 m, 9/9-pin
C-862.CN
Network cable for daisy chain network, 30 cm
C-990.CD1
Data storage device with PC software from PI
MS242EK
Short instructions for digital motor controllers

3 Product Description
10 Version: 1.2.1 MS249E C-863.12 Mercury Controller
3.4 Accessories
Item
Component
C-862.CN2
Network cable for daisy chain network, 3 m
C-819.20
Analog joystick for 2 axes, details see"Joysticks Available" (p. 95)
C-819.20Y
Y cable for connecting 2 controllers to C-819.20 joystick
C-819.30
Analog joystick for 3 axes, details see"Joysticks Available" (p. 96)
C-170.PB
Pushbutton box with 4 buttons and 4 LEDs
Connection to the I/O socket of the
C-863.12, sends 4 TTL input signals
and displays the state of the 4 digital
outputs via the LEDs.
C-170.IO
I/O cable, 2 m, open end (p. 267)
To order, contact our customer service department (p. 259).

3 Product Description
C-863.12 Mercury Controller MS249E Version: 1.2.1 11
3.5 Functional Principles
3.5.1 Block Diagram
The C-863.12 controls the motion of the logical axis of a positioner. The following block diagram
shows how the C-863.12 generates the output signal for the axis connected:
Figure 3: C-863.12: Control value generation
The C-863.12 supports both positioners with PWM amplifier and positioners without PWM
amplifier (p. 43). The positioner must be equipped with an encoder with A/B quadrature signal
transmission for feedback of the current position.
3.5.2 Motor Control
The maximum output voltage of the C-863.12 is only as high as its supply voltage. To avoid
damaging the motor by excessive operating voltage, the C-863.12 scales its output voltage to
the motor connected.
Details on scaling:
▪The C-863.12 compares its current supply voltage (maximum 48 V) to the value of
parameter 0x7C (Maximum Motor Output (V)), which specifies the maximum
permissible operating voltage of the motor (maximum of 48 V depending on the motor
type; see the documentation for the positioner).
▪Depending on the result of the comparison, the C-863.12 scales the control value for
the PWM converter (see block diagram (p. 11)) and therefore the output voltage as
well.
Example:
The C-863.12 is operated with a 24 V power adapter. The motor of the positioner connected is
designed for a maximum operating voltage of 12 V, which means that parameter 0x7C has a

3 Product Description
12 Version: 1.2.1 MS249E C-863.12 Mercury Controller
value of 12. The PWM signal then has a duty cycle of maximum 50 %, i.e., the output voltage is
maximum 12 V.
INFORMATION
If the positioner is equipped with a PWM amplifier that is supplied via a separate power
adapter:
➢To achieve the optimum motor performance, use a power adapter for the C-863.12 that
supplies the same output voltage as the power adapter for the PWM amplifier.
The C-863.12 is configured for the maximum operating voltage of the motor with the following
parameters:
Parameter
Description and Possible Values
Maximum Motor
Output (V)
0x7C
Maximum permissible operating voltage of the motor
0 to 48 V
Maximum Motor
Output
0x9
Maximum permissible absolute measure of the control value
(dimensionless)
0 to 32767
The value 32767 (standard) corresponds to the maximum permissible
operating voltage of the motor, which is specified by parameter 0x7C.
The standard value of parameter 0x9 should not be changed.
3.5.3 Commandable Elements
The following table contains the elements that can be commanded with GCS commands (p.
125).
Element
Num
ber
Identifi
er
Description
Logical axis
1
1
(modifi-
able)
The logical axis represents the motion of the positioner in the
firmware of the C-863.12. It corresponds to an axis of a linear
coordinate system.
All commands for the motion of a positioner refer to logical
axes.
Motion for logical axes is commanded in the firmware of the
C-863.12 (i.e., for the directions of motion of a positioner).
The motion commands MOV and MVR are for example,
available in closed-loop operation. The motion command for
open-loop operation is SMO.
The axis identifier can be queried with the SAI? command
and modified with the SAI command. It can consist of up to

3 Product Description
C-863.12 Mercury Controller MS249E Version: 1.2.1 13
Element
Num
ber
Identifi
er
Description
8 characters; valid characters are
1234567890ABCDEFGHIJKLMNOPQRSTUVWXYZ-_
The new axis identifier is only transferred to the volatile
memory of the C-863.12. A changed axis identifier can be
stored permanently in the C-863.12 with the WPA command
(p. 205).
Analog inputs
7
1 to 7
The analog input lines with the identifiers 1 to 4 are the
inputs 1 to 4 of the I/O socket (p. 266). Their number is
displayed with the TAC?command and their values can be
queried with the TAV? command. Note that these lines can
also be used as digital inputs (see below).
Additional analog input lines are located at the Joystick
socket (p. 268).
These lines are not output via TAC? and TAV?.
The values of all inputs can be recorded via record option 81
of the DRC command.
Digital outputs
4
1 to 4
1 to 4 identify digital output lines 1 to 4 of the I/O socket (p.
266).
For further information, see "Digital Output Signals" (p. 76).
Digital inputs
4
1 to 4
1 to 4 identify digital input lines 1 to 4 of the I/O socket (p.
266), which can also be used as analog inputs (see above).
For further information, see "Digital Input Signals" (p. 83).
Joystick
1
1
A joystick can be connected to the C-863.12's Joystick socket
(p. 268).
Joystick axis
1
1
Pin 4: Commanding as axis 1 of joystick 1
Joystick button
1
1
Pin 6: Commanding as button 1 of joystick 1
For further information, see "Joystick Control" (p. 89).
For data recorder configuration with the DRC command, the
following data source identifiers apply:
5 = axis 1 of joystick 1
6 = button 1 of joystick 1
Data recorder
table
4
1 to 4
The C-863.12 has 4 data recorder tables (query with TNR?)
with 1024 data points per table.
Controller
address
1
1 to 16
The controller address can be set in the range from 1 to 16
with the DIP switches on the front panel of the C-863.12. In a
daisy chain (p. 45), each controller must have a unique
address (p. 117).
Overall system
1
1
C-863.12 as an overall system

3 Product Description
14 Version: 1.2.1 MS249E C-863.12 Mercury Controller
3.5.4 Important Components of the Firmware
The firmware of the C-863.12 provides the following functional units:
Firmware
Component
Description
ASCII commands
Communication with the C-863.12 can be managed using the
commands of the PI General Command Set (GCS; version 2.0). The GCS
is independent of the hardware (controller, positioners connected).
Examples of the use of GCS:
▪Configuring the C-863.12
▪Setting the operating mode
▪Starting motion of the positioner
▪Getting system and position values
You can find a list of the available commands in the "Command
Overview" section (p. 120).
Parameter
Parameters reflect the properties of the positioner connected (e.g.,
travel range) and specify the behavior of the C-863.12 (e.g., settings for
the servo algorithm or for the use of the digital inputs).
Parameter values can be changed to adapt the system to the particular
application. For further information, see "Adapting Settings" (p. 231).
Write access for the parameters of the C-863.12 is defined by
command levels. After the controller is switched on or rebooted, the
active command level is always 0. On command levels > 1, write access
is only available to PI service personnel.
Profile generator and
servo algorithm
In closed-loop operation, a profile generator generates the dynamics
profile. The position error that results from the difference between the
calculated dynamics profile and the actual position (sensor feedback)
runs through a PID servo algorithm. Further information can be found
in the sections "Generation of Dynamics Profile" (p. 18), "Servo
Algorithm and Other Control Value Corrections" (p. 21) and "Motion
Triggering" (p. 16).
Data Recorder
The C-863.12 contains a real-time data recorder (p. 74). The data
recorder can record various signals (e. g., position, analog input) from
different data sources (e. g., logical axes or input channels).
Macros
The C-863.12 can store macros (p. 97). Command sequences can be
defined and stored permanently in the nonvolatile memory of the
device via the macro function. A startup macro can be defined that
runs each time the C-863.12 is switched on or rebooted. The startup
macro simplifies stand-alone operation (operation without a
connection to the PC). Further information can be found in the
"Controller Macros" section (p. 97).
The firmware can be updated with a tool (p. 249).