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PI MS249E - User Manual
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Physik Instrumente (PI) GmbH & Co. KG
,
Auf der Roemerstr
as
se
1,
76228 Karlsruhe,
Germany
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws
,
www.pi.ws
MS249E
C-863.12 Mer
cury Controller
User Manual
Version: 1.2.1
Date: 19.10.
2021
This document des
cribes the fo
llowing product:
▪
C-863.12
Mercury servo c
ontroller, for
DC motors and
PWM motor drive
r, 1 axis, HD D-sub
26, USB,
RS
-232, I/O, connec
tor for an
alog joystick
2
Table of Contents
Main Page
Table of Contents
3
About this Document
7
Objective and Target Audience of this User Manual
7
Symbols and Typographic Conventions
7
Definition of Terms
8
Figures
9
Other Applicable Documents
9
Downloading Manuals
10
Safety
11
Intended Use
11
General Safety Instructions
11
Organizational Measures
12
Product Description
13
Product View
13
Front Panel
13
Rear Panel
14
Type Plate
15
Scope of Delivery
15
Accessories
16
Functional Principles
17
Block Diagram
17
Motor Control
17
Commandable Elements
18
Important Components of the Firmware
20
Operating Modes
21
Physical Units
21
Motion Triggering
23
Generating a Dynamics Profile
24
Servo Algorithm and Other Control Value Corrections
27
On-Target State
29
Reference Switch Detection
30
Limit Switch Detection
30
Travel Range and Soft Limits
31
Referencing
34
Communication Interfaces
39
Controlling PI Systems
39
C-863.12 Communication Interfaces
40
Overview of PC Software
40
Positioner Databases
42
Unpacking
43
Installation
45
Installing the PC Software
45
Doing Initial Installation
45
Installing Updates
46
Installing Custom Positioner Databases
47
Mounting the C-863.12
48
Grounding the C-863.12
49
Connecting the Positioner
49
Connecting the PC
50
Connecting to the RS-232 Interface
50
Connecting to the USB Interface
51
Building a Daisy Chain Network
52
Connecting the Power Supply to the C-863.12
53
Connecting an Analog Joystick
54
Connecting Digital Inputs and Outputs
55
Connecting the Digital Outputs
55
Connecting the Digital Inputs
55
Connecting Analog Signal Sources
56
Startup
57
General Notes on Startup
57
Adapting the DIP Switch Settings
57
General Procedure
57
Controller Address
58
Baud Rate
59
Switching the C-863.12 on
60
Establishing Communication
61
Establishing Communication Via RS-232
61
Establishing Communication Via USB
62
Establishing Communication for Networked Controllers
64
Starting Motion
68
Optimizing the Servo Control Parameters
72
Operation
79
Motion Errors
79
Behavior with Motion Errors
79
Re-Establishing Readiness for Operation
80
Data Recorder
80
Configuring the Data Recorder
80
Starting the Recording
82
Reading Recorded Data
82
Digital Output Signals
82
Commands for Digital Outputs
82
Configuring the "Position Distance" Trigger Mode
84
Configuring the "On Target" Trigger Mode
86
Configuring the "Motion Error" Trigger Mode
86
Configuring the "In Motion" Trigger Mode
86
Configuring the "Position + Offset" Trigger Mode
87
Configuring the "Single Position" Trigger Mode
88
Setting Signal Polarity
89
Digital Input Signals
90
Commands and Parameters for Digital Inputs
90
Using Digital Input Signals in Macros
92
Using Digital Input Signals as Switch Signals
92
Analog Input Signals
94
Commands for Analog Inputs
94
Using Analog Input Signals in Macros
95
Joystick Control
95
How Joystick Control Works
95
Commands and Parameters for Joystick Control
96
Controlling Axis Motion
97
Calibrating the Joystick
98
Joysticks Available
101
Controller Macros
103
Overview: Macro Functionality and Example Macros
103
Commands and Parameters for Macros
104
Working with Macros
105
Making Backups and Loading Controller Macros
113
Macro Example: Synchronization of Two Controllers
114
Macro Example: Stopping Motion by Pushbutton
115
Macro Example: Joystick Control with Storage of Positions
116
Macro Example: Joystick Control with Change in Velocity
119
GCS Commands
121
Notation
121
GCS Syntax for Syntax Version 2.0
121
Target and Sender Address
123
Variables
124
Command Overview
126
Command Descriptions for GCS 2.0
132
Error Codes
213
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PI MS249E Specifications
General
Brand
PI
Model
MS249E
Category
Controller
Language
English
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