PZ116E User ManualE-816 Computer Interface and Command InterpreterSubmodule for Piezo ControllerRelease: 1.3.0Date: 2009-04-24This document describes thefollowing product(s): E-816.00Computer Interface and CommandInterpreter Submodule (firmware version3.20 and newer) for Piezo Controllers Physik Instrumente (PI) GmbH & Co. KGAuf der Römerstr. 1 76228 Karlsruhe, GermanyTel. 49 721 4846-0 Fax: 49 721 firstname.lastname@example.org www.pi.ws
E-816 Computer Interface and Command InterpreterUser Manual PZ116EPhysik Instrumente (PI) GmbH & Co. KG is the owner of the following company names and trademarks:PI , PIC , PICMA , PILine , PIFOC , PiezoWalk , NEXACT , NEXLINE , NanoCube , NanoAutomation The following designations are protected company names or registered trademarks of third parties:Microsoft, Windows, LabViewThe products described in this manual are in part protected by the following patents:US-Patent No. 6,950,050Copyright 1999–2009 by Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany.The text, photographs and drawings in this manual enjoy copyright protection. With regard thereto, Physik Instrumente (PI) GmbH & Co.KG reserves all rights. Use of said text, photographs and drawings is permitted only in part and only upon citation of the source.First printing 2009-04-24Document Number PZ116E Eco, BRo, Release 1.3.0E-816 User PZ116E.docSubject to change without notice. This manual is superseded by any new release. The newest release is available for download atwww.pi.ws (http://www.pi.ws).Related DocumentsThe software tools which are delivered with the E-816 Computer Interface and Command Interpreter Submodule for Piezo Controller andthe piezo controller in which the E-816 is integrated are described in their own manuals. All documents are available as PDF files on thedistribution CD:Manuals for Software Tools:Manuals for Controller HardwareE-816 DLL Manual, PZ120EE-621.CR User Manual, PZ160EE-816 LabVIEW Software Manual, PZ121EE-621.SR, .LR User Manual, PZ115EAnalog GCS LabVIEW Software Manual, PZ181EE-625.CR User Manual, PZ166EPIMikromove User Manual, SM148EE-625.SR, .LR User Manual, PZ167EE-665 User Manual, PZ127EE-801 User Manual, PZ117EE-802 User Manual, PZ150EUpdated releases are available for download at www.pi.ws or via email: contact your Physik Instrumente sales engineer or email@example.com.Release 1.3.0www.pi.wsPage 1
E-816 Computer Interface and Command InterpreterUser Manual PZ116ETable of Contents1.Introduction. 41.1.Prescribed Use . 41.2.Safety Precautions. 51.3.Software Description. 62.First Steps . 72.1.Installing the Software on the Host PC . 72.2.Quick Start . 83.Operation. 113.1.Axis Identifiers. 113.2.Modes of Operation . 123.2.1.Control Modes. 123.2.2.Servo Modes (ON / OFF). 133.3.How to Command Axis Motion. 143.3.1.Applicable Control Sources. 143.3.2.Command Examples for Computer-Controlled Mode . 153.4.Working with the Wave Table . 163.4.1.Basic Wave Table Operation . 163.4.2.Special Output Configuration . 173.5.Working with E-816 Macros . 183.5.1.Defining Macros . 183.5.2.Starting Macro Execution. 203.5.3.Start-Up Macro. 203.6.Drift Compensation . 213.7.Updates. 213.7.1.E-816 Software Updates. 213.7.2.LabVIEW Analog Driver Software. 223.7.3.Firmware Updates. 224.Communication. 244.1.Interfaces Available. 244.2.RS-232 Serial Communication. 244.3.USB Communication. 254.4.Networking on I2C Bus . 264.4.1.Overview . 264.4.2.Interlinking Multiple E-816s. 274.4.3.Master/Slave Command Processing. 28Release 1.3.0www.pi.wsPage 2
E-816 Computer Interface and Command InterpreterUser Manual PZ116E4.4.4.Setting Channel Names . 284.4.5.Checking Connection and Master Unit . 295.Calibration . 306.GCS Commands . 336.1.Format. 336.1.1.GSC Syntax . 336.1.2.Commands with Floating Point Arguments. 346.1.3.Limitations for GCS Commands . 346.2.Command Survey . 356.3.Command Reference (Alphabetical). 377.Internal Connections . 567.1.1.Pin Assignments . 567.1.2.Target (Analog) Output . 567.1.3.Sensor (Analog) Input . 567.1.4.Piezo Voltage (Analog) Input . 577.1.5.Trigger (Digital) Input . 577.1.6.Other Digital I/O . 578.Customer Service . 589.Old Equipment Disposal . 58Release 1.3.0www.pi.wsPage 3
E-816 Computer Interface and Command InterpreterUser Manual PZ116E1. IntroductionThe E-816 is a submodule that plugs into a piezo controller main board. Typically,it comes preinstalled as part of a pre-calibrated, ready-to-use system. The E-816provides ASCII interfaces over which the device on which the submodule isinstalled can be controlled by a host computer.1.1. 24-bit A/D and 20-bit D/A resolution RS-232 interface and USB 2.0 (full speed/low speed) (not with some older hardwarerevisions) I2C bus for interlinking up to 12 units in a network Wave table output for periodic motion Triggered motion (with firmware revision 3.20 and newer) Macro feature (with firmware revision 3.20 and newer) Individual calibration registers for offset and gain of piezo amplifier and sensor Analog input channels for monitoring actual piezo voltage and sensor position Compatible with PI General Command Set Libraries for Windows and Linux operating systems; LabView drivers provided Graphical user interface PIMikroMove software providedPrescribed UseThe E-816 is designed as a plug-in module for analog piezo control electronics,e.g. E-621, E-625 or E-665. It makes possible controlling the analog piezo controlelectronics via PC interface (USB, RS-232), macro programming and wave tableoutput. The current voltage and position values can be queried over the PCinterface.The E-816 may only be used for applications suitable according to the devicespecifications. Operation other than instructed in this User Manual may affect thesafeguards provided. Operate the E-816 only when you have read the operatinginstruction. Keep the instruction readily available close to the device in a safeplace. When the instruction is lost or has become unusable, ask the manufacturerfor a new copy. Add all information given by the manufacturer to the instruction,e.g. supplements or Technical Notes. Carefully read also the user manuals and/ortechnical notes of all other components involved, such as analog piezo controlelectronics or software.The E-816 is a laboratory apparatus as defined by DIN EN 61010. It meets thefollowing minimum specifications for safe operation: Indoor use only Altitude up to 2000 mRelease 1.3.0www.pi.wsPage 4
E-816 Computer Interface and Command Interpreter1.2.User Manual PZ116E Temperature range 5 C to 40 C Max. relative humidity 80% for temperatures up to 31 C, decreasing linearly to 50%relative humidity at 40 C Line voltage fluctuations not greater than 10% of the line voltage Transient overvoltages as typical for public power supplyNote: The nominal level of the transient overvoltage is the standing surge voltageaccording to the overvoltage category II (IEC 60364-4-443). Degree of pollution: 2Safety PrecautionsInstall and operate the E-816 Computer Interface and Command InterpreterSubmodule only when you have read the operating instruction. Keep theinstruction readily available close to the device in a safe place. When theinstruction is lost or has become unusable, ask the manufacturer for a new copy.Add all information given by the manufacturer to the instruction, e.g. supplementsor Technical Notes.CAUTIONE-816s are fully calibrated together with the other components of the system before beingshipped from PI. It is not necessary for customers to recalibrate them.Calibration should only be done after consultation with PI, otherwise the internal configurationdata may be destroyed by erroneous operation.Be careful when changing calibration parameters using the SPA command. If the current RAMvalues set with SPA are incompatible, the system may malfunction. Be sure that you haveentered correct parameter settings before using the WPA command to save the current settingsto non-volatile memory where they become the new power-on defaults.CAUTIONThermally stable systems have the best performance. For a thermally stable system, power onthe piezo control electronics in which the E-816 is installed at least one hour before you startworking with it.CAUTIONIf the piezo stage starts oscillating (humming noise):In closed-loop operation, switch off the servo immediately. The load and / or the dynamics ofoperation probably differ too much from the setup for which the system was calibrated.In open-loop operation, stop the motion immediately. Do not operate the piezo stage at itsresonant frequency because the notch filter(s) may be deactivated in open-loop operation.Otherwise the piezo stage could be irreparable damaged.Release 1.3.0www.pi.wsPage 5
E-816 Computer Interface and Command InterpreterUser Manual PZ116ECAUTIONUnits with firmware revision older than 2.11 can not be updated as described in “FirmwareUpdates” on p. 22. Contact PI if you want to update such units.Use only suitable firmware files for firmware updates. The most significant digit of the currentfirmware revision must correspond to that in the name of the update hex file:Units with firmware 2.11 or newer require hex files with revision 2.12 or newer.Units with firmware 3.20 or newer require hex files with revision 3.21 or newer.Do not use the USB interface for firmware updates.1.3.Software DescriptionOperating system details: "Windows" stands for 2000, XP and Vista "Linux" stands for kernel 2.6, GTK 2.0, glibc 2.4The table below lists the software tools which are on the E-816 product CD withapplication recommendations.For more information see the corresponding software manuals.Software ToolSupportedOperatingSystemShort DescriptionRecommended forGCS LibraryWindows,LinuxAllows program access to the E816 from languages like C .The functions in the library arebased on the PI GeneralCommand Set (GCS).Recommended for customers whowant to use a library for theirapplications.Windows operating systems:PI GCS2 DLL;Linux operating systems:libpi pi gcs2.so.x.x.x andlibpi pi gcs2-x.x.x.a where x.x.xgives the version of the libraryLabVIEWDigital Drivers*Windows,LinuxRelease 1.3.0Included are Vis for GCScommands and high-level Vis forvarious tasks.www.pi.wsThe dynamic version of the library isneeded by the LabVIEW driver setand by PIMikroMove .Users who want to use LabVIEW forprogramming their applicationsbased on the GCS. See the GCSLabVIEW manual of your controllerfor more information.Page 6
E-816 Computer Interface and Command InterpreterUser Manual PZ116ESoftware ToolSupportedOperatingSystemShort DescriptionRecommended forLabVIEWAnalog Drivers*Windows,LinuxThe LabVIEW analog driverssupport using a DAQ board togenerate an analog signal tooperate a controller with ananalog input.Users who want to use LabVIEWwith a DAQ board to control theirapplication using an analog signal.PIMikroMove WindowsPIMikroMove permits you tostart your motion system—hostPC, controller and stage(s)—immediately without the need towrite customized software. Itoffers motion-control displays andfeatures that in many cases makeit unnecessary to deal with ASCIIformat commands. It also has acomplete command input facility,which represents an easy way toexperiment with variouscommands. PIMikroMove usesthe GCS DLL described above tocommand the controller.Note that the program offerscomprehensive online support.Users who want to test theequipment before or instead ofprogramming an application andwho want to learn how to use thecommands. For motor controllers,PIMikroMove offers an easy wayto optimize the servo parameters.PITerminalWindowsPITerminal is a Windows GUIwhich can be used as a simpleterminal with almost all PIcontrollers.Users who want to send thecommands of the PI GeneralCommand Set (GCS) directly.FirmwareUpdate WizardWindowsThe Firmware Update Wizardguides you through the update ofthe firmware for the hardwaremodules of your E-816 system.Users who want to update thefirmware.*LabVIEW is a software tool (available separately from National Instruments) for data acquisition andprocess control. The E-816 LabVIEW software consists of collections of virtual instrument (VI)drivers for the E-816 interface submodule. The digital and analog driver sets support the PI GeneralCommand Set (GCS).2. First Steps2.1.Installing the Software on the Host PCWindows operating systems:1Insert the E-816 CD in your host PC.2If the Setup Wizard does not open automatically, start it from the rootdirectory of the CD with the3icon.Follow the on-screen instructions. You can choose between Typical(recommended) and Custom installation. Typical components are LabViewRelease 1.3.0www.pi.wsPage 7
E-816 Computer Interface and Command InterpreterUser Manual PZ116Edrivers (digital and analog), GCS DLL, PIMikroMove and PITerminal. WithCustom, you can select individual components.Fig. 1: E-816 Custom SetupLinux operating systems:1Insert the E-816 CD in the host PC.2Open a terminal and go to the /linux directory on the E-816 CD.3Log in as superuser (root).4Start the install script with ./INSTALLKeep in mind the case sensitivity of Linux when typing the command.5Follow the on-screen instructions. You can choose the individualcomponents to install.If the installation fails, make sure you have installed the kernel header files for yourkernel.For an overview over the host software provided see "Software Description” onp. 6.2.2.Quick StartCAUTIONThermally stable systems have the best performance. For a thermally stable system, power onthe piezo control electronics in which the E-816 is installed at least one hour before you startworking with it.CAUTIONIf the piezo stage starts oscillating (humming noise):In closed-loop operation, switch off the servo immediately. The load and / or the dynamics ofoperation probably differ too much from the setup for which the system was calibrated.In open-loop operation, stop the motion immediately. Do not operate the piezo stage at itsresonant frequency because the notch filter(s) may be deactivated in open-loop operation.Otherwise the piezo stage could be irreparable damaged.Release 1.3.0www.pi.wsPage 8
E-816 Computer Interface and Command InterpreterUser Manual PZ116ENoteThe following E-816 factory defaults are valid for the first start-up, unless agreed otherwisebefore delivery: Number of readings to use for an average: 32Can be changed using the AVG command (p. 38) Channel name ( axis identifier): “A” for single units (e.g. if you ordered a single E-625or E-665 piezo controller); “B” up to “M” for multi-axis units (e.g. multiple E-621 moduleson one chassis)Can be changed using the SCH command (p. 48) Data rate: 115,200 baudCan be changed in the range of 9,600 to 115,200 baud using the BDR command (p. 38)Values set with AVG, SCH and BDR can be saved to non-volatile memory where they becomethe new power-on defaults. See the WPA command description (p. 54) for details.The following instructions illustrate the first steps with the E-816 usingPIMikroMove because that software offers a convenient user interface foroperating the system. See the PIMikroMove Manual for the complete, moredetailed software description and "Installing the Software on the Host PC" (p. 7) forhow to install the program.In the example below, two networked E-816s are to be used. They are installed intwo single-axis E-665s which are to be interconnected via an E-665.CN networkcable and both drive single-axis piezo stages. The channel names are B and V. Vis to be the master unit, i.e. it must be directly connected to the host PC.Proceed as follows to take the system into operation:1.Set up the unit in which the E-816 is installed (e.g. E-621, E-625 or E-665)as described in the “Starting Operation” or “Quick Start” section of thecorresponding User Manual.In particular, be sure the unit is configured to allow computer-controlledoperation. Furthermore, the operating elements on the piezo controlelectronics should be set to open-loop operation (servo OFF; e.g. by thecorresponding DIP switch or the SERVO ON/OFF toggle switch) to give theE-816 complete control over the servo mode selection. See “Control Modes”on p. 12 and the User Manual of the piezo control electronics for details.In the example, the ANALOG/DIGITAL toggle switches on both E-665s mustbe set to “DIGITAL”, and the SERVO ON/OFF toggle switches must be set to“OFF”.2.If you are planning to run networked E-816s, prepare the system fornetworking:A unique channel name ( axis identifier) must be assigned to each of theunits. E-816s delivered together installed in the same chassis (e.g. E-621modules) come preconfigured with unique channel names starting with “B”,but the names of E-816s installed in stand-alone devices such as E-625s orE-665 by default are all set to “A” and need to be changed.Follow the instructions in “Setting Channel Names” on p. 28 to change thechannel name of an E-816, and see “Checking Connection and Master Unit”on p. 29 for how to check the settings. In the example, “B” and “V” wereassigned to the E-816s.Release 1.3.0www.pi.wsPage 9
E-816 Computer Interface and Command InterpreterUser Manual PZ116EIf all channel names were adapted, interconnect the units which are to benetworked as described in “Interlinking Multiple E-816s” on p. 27. Afterinterconnecting all units, power-cycle them.3.Connect the unit to the host PC using the included null-modem cable or USBcable. With a network of multiple E-816s, the device which is to be themaster unit must be connected to the host PC that way (V in this example).When using the USB interface for the first time, a USB driver must beinstalled on the host PC. This driver is provided on the E-816 CD in the\USB Driver directory.4.Start PIMikroMove on the host PC. It opens with the Start up controllerwindow5.Establish a connection from PIMikroMove to the E-816 (single unit ormaster unit of a network). This can be done via the USB or RS-232 interface,using the corresponding tab card in the Start up controller window (tab cardselection depends on the current hardware connection). See"Communication" on p. 24 for details.When the connection is established successfully, the PIMikroMove mainwindow will open. Note that you can configure the appearance of the Axestab card, e.g. hide or show certain columns. See Section 2.3.1 in thePIMikroMove User Manual for details6.Make some test moves with the individual axes using the controls on theAxes tab card:The first moves should be made in open-loop operation (Servo boxes mustbe unchecked). With the E-816, open-loop commanding means to give thedesired output voltage values for the axes. Command an output voltage of 0V by entering 0 in the Openloop Value field of an axis and pressing Enter onyour keyboard. Then enter a new value of about 10% of the axis voltagerange and press Enter. Increment the Openloop Value this way by steps of asuitable size, up to the upper voltage limit of the axis (see datasheet orRelease 1.3.0www.pi.wsPage 10
E-816 Computer Interface and Command InterpreterUser Manual PZ116Emeasurement protocol of the mechanics), and then reduce it in an analogousmanner to the lower voltage range limit of the axis. In doing so, observe theposition display for the axis (in the Position field) and the current outputvoltage for the corresponding piezo actuator in the stage (in the PiezoVoltage field). The output voltage values should follow the commandedvalues. At 0 V output voltage, the current position value of the axis should beapproximately 0 μm, but due to the calibration settings of the system, theaxis position can differ from 0 by about 20% of the axis travel range.You can also use the and buttons to decrement / increment thecommanded value by the value given in the Step size field (1.0 V in thefigure below).If open-loop operation is successful, you can switch to closed-loop operationby checking the Servo boxes on the Axes tab card. In closed-loop operation,target positions for the axes are commanded. Enter the target position in theTarget field and press Enter on your keyboard, or use the arrow buttons todecrement / increment the target position by the Step size value. The axisposition (Position field) should correspond to the commanded value.3. Operation3.1.Axis IdentifiersE-816 submodules can be used as single devices or interlinked on the embeddedI2C bus as multi-axis system. Irrespective of the current usage, several commandsrequire an axis identifier to address a certain unit (in this document, the terms “axisidentifier” and “channel name” are used interchangeably). When multiple units areconnected via the I2C bus, arriving commands are forwarded to the proper unitaccording to its axis identifier.Possible axis identifiers are A to Z. By default, the following axis identifiers arepreset: “A” for single units (e.g. if you ordered a single E-625 or E-665 piezocontroller) “B” up to “M” for multi-axis units (e.g. multiple E-621 modules on onechassis)You can ask with the SAI? command (p. 48) for the axis identifiers of all E-816s onthe I2C bus. The axis identifier of the master unit (i.e. of the unit which is connectedwith the computer via the serial communications null-modem or USB cable) can bechanged using the SCH command (p. 48).Release 1.3.0www.pi.wsPage 11
E-816 Computer Interface and Command InterpreterUser Manual PZ116ETo facilitate networking, E-816s behave as follows: The master unit is not only reachable with its identifier assigned with SCHbut always also with ”A” If units whose axis identifier is set to “A” with the SCH command areconnected as slave on the I2C bus, they are not accessible sincecommands addressed to “A” will always be executed by the master unitFor more information, see “Networking on I2C Bus” on p. 26 and “GCSCommands” on p. 33.3.2.Modes of OperationControl modes: The piezo channel (amplifier) of the control electronics can beoperated in either analog mode or computer-controlled mode. The active modedetermines the applicable control sources for the output voltage. See "ControlModes" below and the User Manual of the analog piezo control electronics (e.g. E621, E-625 or E-665) for more information.Servo modes: The current servo mode determines if a motion axis is driven inopen-loop (servo OFF) or closed-loop (servo ON) operation. In closed-loopoperation a servo loop participates in the generation of the control value for thepiezo channel. The servo loop thus maintains the current axis position, based on agiven target position and the position feedback of the corresponding sensorchannel. See "Servo Modes (ON / OFF)" below and the User Manual of the analogpiezo control electronics (e.g. E-621, E-625 or E-665) for more information.The individual control and servo modes can be combined arbitrarily.3.2.1.Control ModesThe current control mode of a piezo channel determines the applicable controlsources for the output voltage and hence for the axis motion: Analog mode:The output voltage depends on analog control input and—if present—DC offset appliedto the channel (e.g. a voltage applied to the socket labeled CONTROL IN or ANALOGIN; if present, setting of the DC-OFFSET knob).Move commands (received via interface or from a running macro), trigger input or wavetable output are ignored.Analog control input can be a computer-generated analog signal (e.g. from a DAQboard). You can use the PI LabVIEW Analog Driver set provided on the E-816 CD togenerate that analog signal. This driver set also includes the Hyperbit drivers whichmake possible position resolution higher than that of the DAQ board used. Newreleases of the LabVIEW Analog Driver set are available from the download area atwww.pi.ws. See the included E500T0011 Technical Note and the manual of theLabVIEW Analog Driver set for instructions. For the Hyperbit extension, contact yourPI Sales Engineer. Computer-controlled mode:The E-816 controls the generation of the output voltage. Target values for the axismotion can be given by move commands (received via interface or from a runningmacro), trigger input or wave table output. Analog control input voltage and DC offsetsettings are ignored.See "Applicable Control Sources” on p. 14 for details.Switching between analog and computer-controlled mode can be done by DIPswitches (E-621, E-625) or by the ANALOG/ DIGITAL toggle switch (E-665) on theRelease 1.3.0www.pi.wsPage 12
E-816 Computer Interface and Command InterpreterUser Manual PZ116Efront panel of the piezo control electronics in which the E-816 submodule isintegrated. See the User Manual of your piezo control electronics for moreinformation.NotesIn analog mode, the E-816 accepts all commands just as in computer-controlled mode. Theonly difference between the modes is the control source selection of the channel.3.2.2.Servo Modes (ON / OFF)The current servo mode determines if a motion axis is driven in open-loop (servoOFF) or closed-loop (servo ON) operation: Closed-loop operation:Any control input (analog, DC offset, E-816 input like move commands and wave tableoutput) is interpreted as target position. Based on this target position and on theposition feedback of the corresponding sensor channel, a servo loop generates thecontrol value for the piezo channel. The servo loop thus maintains the axis position. Itis not located on the E-816 but in the analog part of the piezo control electronics (seethe corresponding User Manuals of your system for more information). The servo loopapplies a proportional-integral (P-I) servo-controller, a notch filter and a slew ratelimiter. Open-loop operation:Any control input is interpreted as piezo voltage target. Open-loop operation omits theservo loop, and the control input directly controls the output voltage of the piezochannel.The servo mode can be set as follows: Using DIP switch 3 (E-621, E-625) or the SERVO ON/OFF toggle switch (E-665) on thepiezo control electronics, with E-621 also with pin 28a on the 32-pin main connector Via axis-specific SVO commands (p. 51) sent over the communications interface orreceived from a macro running on the E-816Using the SVO? command (p. 52), you can check the last sent SVO settings on a peraxis basisNotesTo give the E-816 complete control over the servo mode selection, the operating elements onthe piezo control electronics must be set to open-loop operation (servo OFF; e.g. by thecorresponding DIP switch or the SERVO ON/OFF toggle switch). See the User Manual of yourpiezo control electronics for more information.SVO? does not report the hardware settings for the servo mode but only the last sent SVOsettings.Closed-loop operation can be activated using a start-up macro. See “Start-Up Macro” on p. 20for more information.The example below illustrates the interpretation of the cont
E-816 DLL Manual, PZ120E E-621.CR User Manual, PZ160E E-816 LabVIEW Software Manual, PZ121E E-621.SR, .LR User Manual, PZ115E Analog GCS LabVIEW Software Manual, PZ181E E-625.CR User Manual, PZ166E PIMikromove User Manual, SM148E E-625.SR, .LR User Manual, PZ167E E-665 User Manual, PZ127E E-801 User Manual
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