PI E-727 User Manual

User Manual
E727T0005, valid for E-727
BRO, 2019-06-28
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 173 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
Modes of Operation
The mode of operation can be selected via the Modes of Operation object of the axis (0x6060 for
the first axis, 0x6860 for the second axis, …). The selection is possible in the Operation enabled
state. The current mode of operation is displayed via the Modes of Operation Display objects
(0x6061 for the first axis, 0x6861 for the second axis, …).
E-727 supports the following modes of operation according to 61800-7-201:
Code
Mode
1
Profile Position (PP, p. 174)
6
Homing (performs AutoZero, p. 173)
8
Cyclic Synchronous Position (CSP, p. 177)
Behavior when an invalid mode of operation is selected for an axis:
 Mode of Operation Display of the axis shows 0.
 An error occurs for the axis.
Error Handling
The Error code object (0x603F) provides the code of the last error which occurred in the E-727.
Possible error code with E-727:
0x4310 “Excess temperature drive”
The error code indicates that the amplifier output is switched off because the internal temperature
of the E-727 exceeds the switch-off threshold (p. 39). When the amplifier output is switched off, in
addition all axes are switched to open-loop control.
When error 0x4310 occurs, all axes of the E-727 change in the Fault reaction active state. When
the E-727 has cooled down and the error does no longer exist, all axes change in the Fault state.
Homing Mode
The Homing mode is used to perform an AutoZero procedure of the axis. The AutoZero procedure
is the only homing method supported by the E-727 (for AutoZero details, see p. 62). AutoZero is a
manufacturer-specific homing method (object 0x6098 = -1).
Supported objects (per axis):
Index* Name
0x6040
Control word
0x6041 Status word
0x6060 Modes of operation
0x6061 Modes of operation display
0x6064 Position actual value
0x6098
Homing method
* Index for the first axis. Note that the object index is shifted by 0x800 per axis, e.g. the index of
the status word for the second axis is 0x6841.

PI E-727 Specifications

General

Brand	PI
Model	E-727
Category	Controller
Language	English