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E-727
PI E-727 User Manual
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User Manual
E727T0
005, v
alid
for
E-
727
BRO
,
201
9-06-
28
Physik Inst
rumen
te (PI) GmbH & Co
. KG, Auf d
er Roemers
trasse 1,
76228 Karl
sruhe,
Germany
P
age
239 / 240
Phone +49 721
4846-
0, Fax +49 721 4846
-
1019, Email
info@pi
.ws
,
www.pi.ws
Object rang
e
Index:Sub
-
index
Name
Access
Time of
writing
Defa
ult Hex
value (:
Sub
-
ind
ex, Size
)
Dec
value
Data
t
ype
Comment
607D:02
Max
posit
ion lim
it
RW
m
ax.
axis limi
t
INT3
2
6081
Profi
le vel
ocity
RW
0
0
UINT
32
6083
Profile accelera
tion
RW
0
0
UINT
32
6098
Homing me
thod
RW
0
0
INT8
60F4
Following err
or actual v
alue
RO
0
0
INT3
2
60FF
Tar
ge
t v
elo
ci
ty
RW
0
0
INT3
2
6502
Support
ed dri
ve m
odes
RO
0x00000000
0
UINT
32
67FF
Device pr
ofile numb
er
RO
0x00000192
402
UINT
32
Axis 2
683F
Error code
RO
0x0000
0
UINT
16
6840
Contr
olwor
d
RW
0x0000
0
UINT
16
6841
Statusword
RO
0x0000
0
UINT
16
6860
Modes of
ope
ratio
n
RW
0
0
INT8
6861
Modes of
operatio
n displ
ay
RO
0
0
INT8
6864
Pos
iti
on ac
tu
al v
al
ue
RO
0
0
INT3
2
687A
Tar
ge
t po
si
ti
on
RW
0
0
INT3
2
687B
:00
P
ositi
on
range
limit
RO
2
UINT
8
687B
:01
Min posi
tion
r
ang
e
limit
RW
min
.
axis limi
t
INT3
2
687B
:02
Max posi
tion
range
limit
RW
m
ax.
axis
limit
INT3
2
687D:00
Software pos
ition limit
RO
2
UINT
8
687D:01
Min positio
n limit
RW
min
.
axis limi
t
INT3
2
687D:02
Max
posit
ion lim
it
RW
m
ax.
axis
limit
INT3
2
6881
Profi
le vel
oci
ty
RW
0
0
UINT
32
6883
Profile accelera
tion
RW
0
0
UINT
32
6898
Homing me
thod
RW
0
0
INT8
68
F4
Following err
or actual v
alue
RO
0
0
INT3
2
68
FF
Tar
ge
t v
elo
ci
ty
RW
0
0
INT3
2
6D02
Support
ed drive m
odes
RO
0x00000000
0
UINT
32
6FFF
Device pr
ofile numb
er
RO
0x00000192
402
UINT
32
Axis 3
703F
Error code
RO
0x0000
0
UINT
16
7040
Contr
olwor
d
RW
0x0000
0
UINT
16
7041
Statusword
RO
0x0000
0
UINT
16
7060
Modes of
ope
ratio
n
RW
0
0
INT8
7061
Modes of
operatio
n displ
a
y
RO
0
0
INT8
238
240
Table of Contents
Default Chapter
2
Table of Contents
2
About this Document
8
Symbols and Typographic Conventions
8
Other Applicable Documents
9
Downloading Manuals
10
Safety Intended Use
11
Organizational Measures
12
Personnel Qualification
12
Model Overview
13
Safety
11
General Safety Instructions
11
Product Description
13
Product View
14
Accessories
19
Scope of Delivery
19
Functional Principles
20
Block Diagrams
20
Axes, Channels, Functional Elements
22
Important Components of the Firmware
26
Input Signal Processing
27
Control Value Generation
30
Output Generation
34
Control Details
35
Slew Rate Limitation
35
Control Algorithms
35
Feedforward
37
Notch Filters
37
ID Chip Detection
39
Overtemp Protection
39
Overview of PC Software
40
Installation General Notes on Installation
43
Installing the PC Software
43
Performing the Initial Installation
43
Installing Updates
46
Ensuring Ventilation
47
Connecting the E-727 to the Protective Earth Conductor
48
E727T0005, Valid for E
49
General Notes on Start-Up
49
Installation
43
Start-Up
49
Starting the System in Pimikromove
51
Creating Backup Files for Controller Parameters
53
Executing Test Motions in Open-Loop Operation
54
Communication
56
PC Interfaces
56
Additional Interfaces
56
Communication Via the TCP/IP Interface
56
Communication Via the RS-232 Interface
61
Communication Via the USB Interface
62
Operation
56
Autozero Procedure
62
Objective and Prerequisites of Autozero
63
Settings Changed by Autozero
63
Starting Autozero Via Command Entry
63
Starting Autozero in Pimikromove
64
Starting Autozero Via Ethercat Master
65
Special Function: Sensor Autoscaling
65
Data Recording
65
How to Use the Data Recorder
65
Data-Recorder Related Commands and Parameters
67
Using Digital Input
68
Configuring Trigger Output
69
Overview of Trigger Options, Commands and Parameters
69
Example-"Position Distance" Trigger Mode
71
Example-"On Target" Trigger Mode
80
Example-"Minmax Threshold" Trigger Mode
81
Example-"Generator Level Trigger" Mode
82
Example-"Generator Pulse Trigger" Mode
83
Example-Polarity Setting
84
Examples-"Triggeroutand" and "Triggeroutor" Modes
84
Using the Analog Input
85
How to Work with the Analog Input - Overview
85
Scaling the Analog Input
87
Use as Control Value Generation Source
90
Use as External Sensor Input
91
Deactivation of Unused Analog Input Lines
92
Analog-Input-Related Commands and Parameters
92
Using the Analog Output
94
How to Work with the Analog Output - Overview
94
Use as Position Monitor
95
Use as Control Signal
96
Analog-Output-Related Commands and Parameters
97
Wave Generator
99
How to Work with the Wave Generator
99
E727T0005, Valid for E
100
Wave Generator Examples
104
Wave-Generator-Related Commands and Parameters
112
Dynamic Digital Linearization (DDL)
114
Working Principle
114
How to Activate the DDL License
117
How to Work with the DDL
118
DDL-Related Commands and Parameters
120
Controller Macros
121
Commands for Macros
121
Working with Macros
123
Variables
130
Adjustment Procedures
131
ID-Chip Support / Stage Replacement
131
Simple" Replacement
131
Upgrade or Repair of Stages
132
Replacement of Tip/Tilt Platforms with Differential Drive
132
Servo-Controller Dynamic Tuning
134
Parameters to be Modified
134
General Notes on Servo-Controller Dynamic Tuning
134
Adjusting the Notch Filter(S) in Open-Loop Operation
136
Checking and Optimizing the Servo-Control Parameters
140
Definition of Terms
144
Overview
144
SPI Interface
144
Configuration Parameters
145
Configuring the Usage of Received Data
145
Configuring the Limits for Position Scaling
145
Data Packet Definition
146
Data Frame
146
CRC-16 Generation
146
Transport Layer
147
Data Segment 1
147
Data Segment 2
147
Connection Lost
150
Transport Layer Flow Charts
150
Nomenclature
150
Sender Flow Charts
151
Receiver Flow Charts
153
Application Layer
155
Axis Position Data Transfer
155
Ontarget-Flag Transfer
156
Transfer of Servo-Mode Changing Commands
156
GCS Command Transfer
156
E727T0005, Valid for E
157
Data Transmission Via SPI
158
Data Line Definition
158
Packet Transmission
158
LDAT: Latch Data Output / Load Data Input
159
CS: Data Word Latch
159
SCLK: Serial Data Clock from Host
159
DCLK: Data Output Clock
160
Serial Transmission
160
Physical Layer
161
Transmission Lines
161
Timing Diagrams
161
Ethercat Interface
164
Overview
164
Configuring the Ethercat Network
165
Connecting the Ethercat Master
165
Configuring the Ethercat Master
165
Scaling Position and Velocity Values
165
Ethercat Communication
166
Communication State Machine
166
Communication Details with E-727
167
Controlling the Axes
168
Necessary Adjustments
168
Cycle Time
168
Object Dictionary
168
Drive State Machine
169
Control Word
171
Status Word
172
Modes of Operation
173
Error Handling
173
Homing Mode
173
Profile Position Mode
174
Cyclic Synchronous Position Mode
177
GCS Commands
178
GCS Syntax for Syntax Version 2.0
178
Notation
178
Limitations for GCS Commands
180
Command Overview
181
Parameter Handling
185
General Commands for Parameters
187
Commands for Fast Access to Individual Parameters
187
E727T0005, Valid for E
188
Parameters
185
Settings of the E-727
185
Parameter Overview
189
Maintenance
204
Updating Firmware
204
Changing the Fuse
212
Cleaning the E-727
212
Troubleshooting
213
Specifications
217
Data Table
217
Maximum Ratings
219
Ambient Conditions and Classifications
219
Technical Data
217
Operating Limits
220
System Requirements
222
Dimensions
223
Pin Assignment
225
E-727 for Capacitive Sensors: Socket for Piezo Stages
225
E-727 for Piezoresistive Sensors and SGS: Socket for Piezo Stages
226
Digital I/O
227
E-727.Xxxa, E-727.Xxxax: Analog I/O
228
E-727.Io3X Analog Input Cable
230
E-727.IO8 Adapter Cable for Analog I/O
231
Power Supply 24 V
232
Rs-232
232
SPI Interface
233
Customer Service
234
Old Equipment Disposal
235
EU Declaration of Conformity
235
Appendix: Ethercat Object Dictionary
236
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PI E-727 Specifications
General
Brand
PI
Model
E-727
Category
Controller
Language
English
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