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 175 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
Index* Name
0x6064 Position actual value
0x607A
Target position
0x6081 Profile velocity
0x6083
Profile acceleration
* 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.
The profile velocity (object 0x6081) specifies the slew rate of the axis (p. 35).
The profile acceleration (object 0x6083) can be specified but is not evaluated.
Profile-Position-mode specific bits of the control word (p. 170):
Bit Name Value Desciption
4 New setpoint 0 Does not assume target position
1 Assume target position
5 Change set immediately 0 Finish the actual positioning and then start the next positioning
1 Interrupt the actual positioning and start the next positioning
6 Reserved
8 Halt 0 Execute positioning
1 Stop axis with profile deceleration
Profile-Position-mode specific bits of the status word (p. 172):
Bit Name Value Desciption
10 Target reached 0 Halt = 0: Target position not reached
Halt = 1: Axis decelerates
1 Halt = 0: Target position reached
Halt = 1: Axis has velocity 0
12 Setpoint acknowledge 0 Previous target position already processed, waiting for new target
1
Previous target position still in process, target overwriting shall be
accepted
13 Reserved The value is always 0.
The setting of target positions is controlled by the timing of the new setpoint bit (bit 4) and the
change set immediately bit (bit 5) in the control word as well as the setpoint acknowledge bit
(bit 12) in the status word.
If the change set immediately bit of the control word is set to 1, the last sent target position is
processed immediately (previous target positions are discarded). If the change set immediately bit
of the control word is set to 0, the target positions are processed in the order they were received
(i.e., processed as a “set of target positions”).
After a target position is applied to the axis, the EtherCAT master signals that the target position is
valid by a rising edge of the new setpoint bit in the control word. The axis sets the setpoint
acknowledge bit in the status word to 1, and afterwards, the axis signals with the setpoint
acknowledge bit set to 0 its ability to accept new target positions.

PI E-727 Specifications

General

Brand	PI
Model	E-727
Category	Controller
Language	English