PI E-727 - Page 5

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 5 / 240
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
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
Notation .......................................................................................................................................... 178
GCS Syntax for Syntax Version 2.0 ................................................................................................... 178
Limitations for GCS Commands........................................................................................................ 180
Command Overview ......................................................................................................................... 181
Parameters 185
Settings of the E-727 ........................................................................................................................ 185
Parameter Handling ......................................................................................................................... 185
General Commands for Parameters ..................................................................................................... 187
Commands for Fast Access to Individual Parameters........................................................................... 187