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1. A base command is one command followed by a terminating CR ASCII character 10 Note that PI GCS software uses LF as command terminator PI software including PlTerminal automatically switches termination character depending on the controller attached The command is executed immediately after the CR is received The command will be repeated once for each CRI that is received immediately after it is entered This feature makes it very easy to continuously execute the same command by simply holding down the Enter key Both uppercase and lowercase characters are valid and spaces are allowed Examples of base commands MR2000 Move motor 2 000 counts steps relative to the present target DP250 Set p term of servo filter to 250 MN Set motor in ON state GH Send motor to home position go home MA20000 Send motor to absolute position 20 000 TP Reports position as P 0000000000 3 1 3 Compound Commands A compound command is a series of base commands separated by commas It is thus possible to string together several commands before terminating them with a CRI Carriage Return These base commands will then be executed sequentially The syntax for a compound command is CMD n CMD 1 CR Examples MR2000 WS100 MR 4300 mr5000 ws100 wa500 ma12000 ws100 wa800 tp MA3500 WS100 WA120 tp www pi ws Native Commands MS176E Release 1 0 1 Page 14 Na
2. See also MN Motor ON Servo control can be enabled again anytime by MN MN Motor ON Sets the motor current back to the hold value On DC motor versions automatically sets the target to the current position and reenables servo control so jerk free activation of the servo loop is possible Note stepper motor versions may have lost track of the position if they were in the MF state Examples MN Sets motor servo control to ON See also MF Motor OFF MRn Move Relative Initiates a move of relative distance of n counts steps from the current target position n may be either a positive or negative number and is added algebraically to the current target to obtain the new target The resulting absolute target position must be between and 1 073 741 823 Motion is counted in encoder counts DC motor versions or micro steps stepper versions Examples www pi ws Native Commands MS176E Release 1 0 1 Page 31 Piezo Nano Positioning PI Native Command Reference MR5000 Motor moves 5000 cts or steps in positive direction MR 330 Motor moves 330 cts or steps in negative direction MR2000 WS100 MR 1200 Motor moves 2000 cts or steps in positive then 1200 in negative direction See also MA RM Remove Macro Used to initialize the memory reserved for one or all macro commands Clears erases one or all macros Example RM Removes all stored macro
3. Mercury Class controllers offer 4 digital outputs and 3 or 4 inputs for either digital or 8 bit analog use A set of commands is available to handle these I O lines CN CF CP TC TA WN WF XN XF for descriptions see the Native Command Reference Section beginning on p 17 Note that there are commands which allow conditional exits from macros depending on the digital and joystick inputs This makes possible pushbutton control and or interaxis communication in stand alone mode i e without a PC connection www pi ws Native Commands MS176E Release 1 0 1 Page 5 Piezo Nano Positioning PI Operating Notes e Operating Notes 2 1 Position Referencing Incremental encoder signals can detect minute position changes but are inherently unable to indicate absolute position A reference signal detection mechanism is used to determine the absolute physical position of the stage A position reference switch sometimes called origin sensor working in conjunction with a capture mechanism of the motion processor can provide this information The FE FE1 FE2 and FES find rising falling edge commands are used to start a reference signal search run Command Start the reference position search in FE positive direction FE1 negative direction FE2 Automatic reference search for PI stages FE3 Automatic reference search for older PI stages 2 2 Units in Native Commands The native comm
4. 22 If button 2 is pressed the motor moves to position 50 000 The digital output pattern is set to 2 LED 2 ON The macro exits when the button is released Macro 23 If button 3 is pressed the motor moves to position 50 000 The digital output pattern is set to 4 LED 3 ON The macro exits when the button is released Macro 24 If button 4 is pressed the motor moves to position 100 000 The digital output pattern is set to 8 LED 4 ON The macro exits when the button is released Macro 25 If button 2 and button 3 are pressed at the same time the motor goes home The digital output pattern is set to 6 LED 2 and 3 ON The macro exits when both buttons are released www pi ws Native Commands MS176E Release 1 0 1 Page 53 Macro Storage on Controller Macros used for Macro 26 Macro 27 Macro 28 Macro 29 Macro 30 Piezo Nano Positioning PI Mode 3 Long duration repetition macro Every 30 ms the sequence of macros 27 28 29 and 30 is executed The RP RP makes the sequence repeat more than 4 billion times in our scale forever If button 1 is pressed the motor moves 4 000 steps waits until the position is reached then waits for another 20 ms and repeats the move as long as the button remains depressed If button 2 is pressed the motor moves 2 000 steps waits until the position is reached then waits for another 20 ms and repeats the move as long as the button remains depressed I
5. Limit negative Bit 1 Reference signal Bit 2 Limit positive Bit 3 no function Byte 3 Error numbers 0 No Error 1 RS 232 timeout 2 RS 232 overflow 3 Macro storage full 4 Macro out of range 5 Wrong macro command 6 Command error Example Command TS Report S 04 02 00 03 02 00 TT Tell Target Reports the target position This is the absolute position to which the motor was commanded During motion this target may differ from the dynamic target used by the controller to maximize conformance to the proper motion profile see the TF command p 37 The target position may be specified directly with the MA Move Absolute and several other commands or indirectly with the MR Move Relative command Example Command TT www pi ws Report T 0000005000 Native Commands MS176E Release 1 0 1 Page 40 Piezo Nano Positioning PI Native Command Reference TV Tell current velocity Reports the current velocity During motion outside the acceleration and deceleration phases the value reported will equal the velocity programmed with SV Example Command Report TV V 0000016777 See also TY SV TY Tell programmed velocity Reports the current programmed velocity setting not the current velocity This value can be changed with the SV command See also TV SV TZ Tell macro zero Reads the autostart macro M
6. with RT 3 3 2 Macro Execution Mode When in macro execution mode the controller returns to direct mode under the following circumstances m Controller is in selected state and receives any character other than single character command or the two characters of an address selection code m Controller is power cycled or reset with no Macro 0 defined m Macro which called another macro terminates m Macro not called by another macro terminates To achieve a full understanding of how this works see the EM command description www pi ws Native Commands MS176E Release 1 0 1 Page 16 Native Command Reference Piezo Nano Positioning PI Native Command Reference This section describes commands supported by firmware 1 06 and higher All single commands fall into one of two classes those which evoke responses report commands and those which do not Heport commands report the requested values in a defined format 4 1 2 Command and Response Formats Command Execution Upon power up all Mercury Class controllers execute the startup macro if present and unless selected from inside the macro remain in the deselected state That means the controller ignores everything on the command interface except for address selection codes Whenever an address selection code is sent the controller with the matching address goes into the selected state and all other controllers into the deselected state The controller stays in the
7. Address Selection Codes The address selection code consists of 2 characters the ASCII character 01 ctrl A followed by an ASCII numeral 0 9 or letter A F for addresses 0 9 and 10 15 respectively denominating the Board Number Device Number minus 1 from 0 to 15 Note that no termination character should be used Board Number Device Number Address Selection Code DIP Switch Setting 1st character 2nd character 0 1 0x01 decimal 1 0x30 decimal 48 0 1 2 0x01 decimal 1 0x31 decimal 49 1 2 3 0x01 decimal 1 0x32 decimal 50 2 3 4 0x01 decimal 1 0x33 decimal 51 3 4 5 0x01 decimal 1 0x34 decimal 52 4 5 6 0x01 decimal 1 0x35 decimal 53 5 6 7 0x01 decimal 1 0x36 decimal 54 6 7 8 0x01 decimal 1 0x37 decimal 55 7 8 9 0x01 decimal 1 0x38 decimal 56 8 9 10 0x01 decimal 1 0x39 decimal 57 9 10 A 11 0x01 decimal 1 0x41 decimal 65 A 11 B 12 0x01 decimal 1 0x42 decimal 66 B 12 C 13 0x01 decimal 1 0x43 decimal 67 C 13 D 14 0x01 decimal 1 0x44 decimal 68 D 14 E 15 0x01 decimal 1 0x45 decimal 69 E 15 F 16 0x01 decimal 1 0x46 decimal 70 F www pi ws Native Commands MS176E Release 1 0 1 Page 8 Piezo Nano Positioning PI Operating Notes e 5 Networking Up to 16 Mercury Class controllers can be controlled from a single host computer interface Communication on the interface is always between the h
8. Commands 13 3 1 Command Types DE SS 13 311 Address Selection Codes sss 13 312 Base Commiands erinnern atn n a kk n EATA 14 313 Compound Commands sss eene 14 314 Single Character Commands sss 15 315 Conditional Commands sse 15 32 Commands with Responses eeeeeeeee 15 33 Command Execution Mode ssesssssseeeeerre 15 BSA Direc ue 16 332 Macro Execution MOde ccccccccccesseceeesseeeesssseeeeessseeeeseaas 16 Native Command Reference 17 41 Command and Response Formati ccccceeeeeeeeeteeeeeeeeees 17 411 Command Execution ccccccccceeeeceesneeeeessneeeeesseeeeeesseeeeseaas 17 412 Command Codes 2 seen 17 413 Report Commands sese ennt 18 42 Base Commands in Alphabetic Order ssss 19 43 Single Character Commands sess 21 44 Base Command Reference in Alphabetic Order 22 Native Commands MS176E Release 1 0 1 Page 1 Piezo Nano Positioning PI Introduction 5 Macro Storage on Controller 45 51 EeatuleS nice roce ere eid edt ike rupe e ded da 45 52 Basic Macro Operation ee edit ner ihe eta iubes 45 521 Defining a Macro ssssssssssssseeeenennnenee nennen 45 522 Executing Starting a Macro sssssssssesee 46 523 Stopping a Macro ss
9. MS177E Windows DLL Library and LabView VIs native command based Mercury GCSLabVIEW_MS149E LabView VIs based on PI GCS command set Mercury GCS DLL_MS154E Windows DLL Library GCS commands PIMikroMove User Manual SM148bE PIMikroMove Operating Software GCS based Mercury Commands MS163E Mercury GCS Command descriptions PiStageEditor SM144E Software for managing GCS stage data database Introduction www pi ws Piezo Nano Positioning PI Introduction 3 11 Available Native Command Software ueuussss 3 111 Software Installation eesssssseeeeeeeeennenns 4 12 Control of Multiple Axes sseee 4 1 3 Input Output DISSE ou Do ei oede I eoe ua Soo DII o re dciens 5 Operating Notes 6 21 Position Referencing r erattu nne ru ac mh eei teg 6 22 Units in Native Commands sseeessseeemne 6 23 Tesung GomrmunicallOn aec iae ERe o emnes RE t ES a bt E 6 24 Operating Motors and Stages ssesseeeeeeee 7 241 Controller Selection Addressing ssssssssss 7 242 Address Selection Codes ccccccccccsscessesseeesecseeeessseeeeseaaes 8 25 use uo eas 9 26 Joystick Control T 9 261 JUSDUIDO coubeebntbu dddatttadi o e ai ne an err EEES 9 262 Joystick Response Definition Tables ssssssss 11 2f bmi 38808 onsite pi rd DU usta cn ee eee ee enone RUE 11 Native
10. code from the host PC or an SC command executed from the autostart macro This is necessary even if there is only one controller on the interface PI software takes care of this detail for you automatically The position counter in the software and firmware is set to 0 upon power up or reboot The actual position the axis occupies is not known to the controller If absolute positioning is necessary then it is necessary to drive the motor to a known position with a command like FE see Position Referencing p 6 2 4 1 Controller Selection Addressing Mercury controllers are in the deselected state after power up or reset In this state they will not execute or respond to any commands Therefore the first thing to do is to select a controller This can be done by sending an address selection code over the command interface or by placing an SC Select Controller command in the autostart macro of one of the units Selection from host Upon receiving an address selection code from the host the addressed unit will enter the selected state and all others remain in or enter the deselected state This technique can be used at startup to ensure that one and only one controller is selected or at any time to stop commanding one unit and begin commanding another running macros or compound commands on the deselected unit continue to execute but cease to generate report strings Automatic selection at power up An address selection
11. code consists of 2 characters an ASCII decimal 1 followed by an ASCII numeral from 0 9 or A F decimal 48 57 and 65 70 for the device address of 0 15 The address selection code consists of two characters the second of which specifies the device address of the unit to be commanded The address selection code is unique in that even deselected Mercurys react to it It is used to select a single controller and deselect all others that might be connected in a daisy chain network see the Address Selection Code section www pi ws Native Commands MS176E Release 1 0 1 Page 7 Piezo Nano Positioning PI Operating Notes If a Mercury is to be ready to execute commands immediately following power up or reset the following command can be executed from the autostart macro of that controller SCn Select Controller n where n is the address of the unit in question Note that executing a command like SC3 from the autostart macros of all controllers on the network will result in only the controller with address 3 being selected You can thus determine which controller is selected at power up by resetting the address and power cycling the affected controllers Sending commands from the host PC to a network where more than one controller is selected can have unpredictable results Note that controllers selected with the SC command will also be deselected if the host sends an address selection code with a non matching address 2 4 2
12. commands have to be sent with the termination character CR carriage return All report strings are terminated by the sequence CR LF ETX Carriage Return Line Feed EndOfText AB Abort motion Stops the motor immediately The motion profile velocity is set immediately to zero and the previously programmed target position is set to the current position AB is used for immediate stopping If running at high speeds you may take into account that stopping the motor abruptly may cause the motor to lose track of the position Use the ST command if you want to stop the motor smoothly Example AB Aborts the motion of the motor immediately See also I single character command and ST BF Brake OFF Deactivates the active low motor brake output line motor connector pin 1 set to 5 V releasing the motor brake if present and connected With many DD and PD stages the high signal on line 1 brake off is required to enable the motor amplifier whether the stage is equipped with a brake or not BN Brake ON Activates the active low motor brake output line motor connector pin 13 set to OV causing a motor brake if present and connected to engage The factory default power up state is 0 V brake on www pi ws Native Commands MS176E Release 1 0 1 Page 22 Native Command Reference Piezo Nano Positioning PI CFn Channel OFF range n 1 4 S
13. details Commands for joystick handling JNn Enables the joystick operation with a specified maximum velocity n Range for n 1000 to 500000 unit is counts or steps per second Example JN30000 After this command is sent the joystick is active At full tilt angle the motor speed is 30 000 steps s as indicated While joystick is active move commands are not accepted Disables the joystick and reactivates processing of move commands JIn Chooses Predefined Joystick Response Table n can be either 0 or 1 and determines whether the response curve is linear n O or cubic n 1 The cubic curve offers more sensitive control around the middle position and less sensitivity close to the maximum velocity As default the linear table is loaded TA5 Read joystick axis position analog from 0 to 255 TA6 Read joystick button state analog from 0 to 255 high values indicate button pressed YN YF Conditionally interrupt compound command based on button state www pi ws Native Commands MS176E Release 1 0 1 Page 10 Piezo Nano Positioning PI Operating Notes 2 6 2 Joystick Response Definition Tables Normally the joystick response is defined by loading a predefined response table using the JT command The loaded response table will remain chosen even when the controller is reset For special purposes it is possible to generate a user defined joystick response table Command
14. home Execute macro Find edge find reference position Go home Set hold current Set hold time Set joystick OFF Set joystick ON Select joystick table Limit switch operation OFF Limit switch logic active high Limit switch logic active low Limit switch operation ON Move absolute Macro definition Motor servo off Motor servo on Move relative Remove erase specified macro Remove all macros and parameters Repeat from beginning of line Reset system like power on reset Remove erase Macro 0 autostart macro Set acceleration Select controller Select Index for Joystick table Set joystick table value Native Commands MS176E Release 1 0 1 Page 24 Page 19 Native Command Reference Com mand ST SV TA TB TC TI TL TM TP TS TT TV TY TZ VE WA WF WN ws XF XN YF YN www pi ws Piezo Nano Positioning P I Function Report Page Identifier Stop motion smoothly and move back Set velocity Tell analog input value An Tell board address B Tell channel digital input HOn Tell iteration number X Tell programmed acceleration L Tell macro contents Tell position P Tell status S Tell target position T Tell current velocity V Tell programmed velocity Y Tell macro zero Display version number Wait absolute time Wait channel OFF Wait channel ON Wait stop Execute if channel OFF Execute if channel ON Execute if connected joystick button is OFF Execute if connected joystick but
15. macros but if the calling macro is to continue after the called macro completes the called macro must not contain any macro calls For example MC1 could call MC2 but MC2 could not then call MC3 and still be able to return to complete the remainder of MC1 A macro may call as many other macro commands as desired as long as each one called does not call another If there is no need to return to the calling command then macros may call macros without limitation It is sometimes desirable to define a complex motion sequence in a macro which calls one macro to set important parameters such as torque gain or velocity then calls one or more others to perform the motion www pi ws Native Commands MS176E Release 1 0 1 Page 46 Macro Storage on Controller Piezo Nano Positioning PI Example MD1 EM2 EM3 EM4 EM5 EM6 NOTE A macro command can call other macros but if the calling macro is to continue after the called macro completes the called macro must not contain any further macro calls Up to 32 macro sequences can be stored If execution of any of the commands is to be conditional depending on a run time condition then those commands must be grouped together at the end of a macro see the xxx command descriptions This restriction makes the use of the EM execute macro command in macros even more useful 5 2 5 Macro 0 Cautostart macro Macro 0 is a special macro command If a command sequence is stored as Macro 0 it wi
16. must be followed by a minimum of 1 and a maximum of 9 digits to accommodate the allowable range of motion 4 1 3 Report Commands Report commands which cause the Mercury controller to emit a string of data be it a position target or other information usually begin with a T for Tell or G for GET Single character commands generate the same report strings as the equivalent base command would Example S equas TSCR Report strings generated by a report command are terminated by the three character sequence CR LF ETX ASCII 13 10 03 Examples of report strings Command TT Report T 0000035500 CR LF ETX Command TL Report L 0000000120 CR LF ETX NOTE The command and report terminators CR LF ETX will be omitted in most of the examples in this manual www pi ws Native Commands MS176E Release 1 0 1 Page 18 Native Command Reference Piezo Nano Positioning PI 4 2 Base Commands in Alphabetic Order Com mand AB BF BN CF CNn CP CS DCn DH EM FE GH HC HT JF JN JT LF LH LL LN MA MD MF MN MR RM RMALL RP RT RZ SA SC SI SJ www pi ws Function Report Identifier Abort stop motion abruptly Set brake OFF and or deactivate some motors Set brake ON Channel OFF Channel ON Channel pattern defining digital outputs Report checksum CG Define drive current Define
17. one of the channels LSB ch 1 Examples TC1 H01 1 input high H01 0 input low TCO HO1 F all 4 channels high H01 5 channels 1 amp 3 high 2 amp 4 low www pi ws Native Commands MS176E Release 1 0 1 Page 36 Piezo Nano Positioning PI Native Command Reference TD Tell Dynamic target DC motor versions only Reports the instantaneous value of the dynamic target As the motor is moved along the programmed path to the final target a dynamic target is used to define the trajectory and control the position at each instant along the way Examples Command Report TD N 0000126317 TE Tell Error DC motor versions only Reports the position error of the motor as determined by subtracting the actual position from the target position Examples Command Report TE E 0000000015 TE WA200 RP99 The report is delivered 5 times a second for 100 times TF Tell Following error DC motor versions only Reports the difference between the dynamic target and the actual position During motion it is normal for the actual position to lag behind the dynamic target position by some amount usually dependent on the programmed motion parameters If the programmed velocity is higher than physically possible for the system or if an obstruction has been encountered the Following Error will increase If the obstruction is temporary the servo controller will attempt to redu
18. selected state as long as no other non matching address selection code is received Upon reception of any character except an address selection code or a single character command the selected controller will interrupt any running macro or compound command and start to interpret the input as a command Upon reception of a single character command the selected controller will execute the command immediately even during execution of a macro or compound command Command Codes Mercury commands use a more or less mnemonic code of 1 to 3 characters to identify the type of operation the code is followed by pertinent data value s if necessary NOTE All commands are terminated by the termination character CR carriage return ASCII character decimal 13 Exceptions are single character commands and address selection codes which are executed immediately without termination www pi ws Native Commands MS176E Release 1 0 1 Page 17 Piezo Nano Positioning PI Native Command Reference Examples MR5000CR Move Relative 5000 counts or micro steps TPCR Tell Position causes the report to be sent For example TP Tell Position by itself is adequate to display the motor position but MR Move Relative alone would be useless because the system would not know how far you wished to move Some commands which take a data value will assume a particular value if none is specified MR for example
19. 29 LL Limit switch logic active low p 29 In addition it is possible to disable software limit switch evaluation completely LN Limit switch operation ON p 30 LF Limit switch operation OFF p 29 NOTE If the hardware and software limit switch configurations are not compatible no motion is possible Standard PI stepper motor stages have active low limit switches whereas PI DC motor stages have active high limit switches www pi ws Native Commands MS176E Release 1 0 1 Page 12 Piezo Nano Positioning PI Native Commands 3 Native Commands Over 50 commands are available for programming the Mercury controller Commands are used to set parameters to control motion and to read values from the controller 3 1 Command Types m Address Selection Code 2 ASCII characters beginning with 01 ctrl A instructs the specified controller to enter the selected state and all non specified controllers to enter the deselected state This is the only command that can be sent over the interface and affect controllers in the power up default deselected state All the following command types are ignored by controllers in the deselected state m Base Commands e g MR5000 Single commands consisting of a mnemonic optionally followed by an argument Execution begins immediately after reception of the CRH character marking the end of the command m Compound Commands e g MR5000 WS100 GH Series of base commands separated by
20. 73 741 824 n 1 073 741 823 Starts a move to absolute position n Motion is counted in counts or micro steps Example MA30000 Starts the motor to go to position 30000 MDn Macro Definition range n 1 to 31 Defines a new macro command Defining more than one macro with the same value of n will result in the loss of all but the last macro so defined To define a macro use MD followed by the desired macro number and a comma and then write the command base or compound command Examples MD1 MR50000 WS100 GH Defines macro 1 MD2 TT TP Creates a macro command to Tell Target then Tell Position and assigns it to number 2 EM2 Executes macro 2 Same as entering TT TP See also TM RM RZ www pi ws Native Commands MS176E Release 1 0 1 Page 30 Piezo Nano Positioning PI Native Command Reference MF Motor OFF Shuts off the motor current On DC motor versions this command turns the servo loop off the motor no longer holds its position actively and may be moved freely The MF command is used to prevent unwanted movement servo dither or to allow for manual positioning of the unit The motor position is still monitored in the MF status and may be queried e g by the TP command Be careful when using this command on stepper motor versions because the controller may lose track of the motor position Examples MFCHR Sets motor servo control to OFF
21. Can be used for command sequencing It waits until input channel n is OFF before continuing program execution Example www pi ws Native Commands MS176E Release 1 0 1 Page 42 Native Command Reference Piezo Nano Positioning PI Command Function WF2 This command waits until input channel 2 is OFF low WNn Wait for channel n ON range of n 1 4 Waits for digital I O channel n to be ON Can be used for command sequencing It waits until input channel n is ON before continuing program execution Example Command Function WN2 This command waits until input channel 2 is ON high WSn Wait for motor stop Waits until the motor has reached the end of its trajectory and then waits for another n milliseconds before continuing to the next command If the parameter n is omitted the default wait time of 1000 ms is used Examples Compound commands Function MR5000 WS100 RP Moves 5000 counts steps then waits until the motor has reached its target then waits for another 100 ms before repeating the command line XFn Execute if OFF Execute the remainder of the command line only if input channel n is OFF 0 V Example Command Function XF3 MR5000 This command moves the motor by 5000 counts steps only if input channel 3 is low GND See hardware User Manual for number and pinout of digital inputs www pi ws Native Commands MS176E Release 1 0 1 Page 43 Piezo Nano Positioning PI Native Comma
22. Piezo Nano Positioning PI MS176E Software Manual Native Commands for Mercury Class Controllers Release 1 0 1 Date 2007 12 19 1 Mercury Command This document describes software for use with the following products gt P 0000000000 gt FE done a C 663 PNG ee eas Mercury Step Networkable Single Axis Stepper Motor Controller B C 862 Mercury Networkable Single Axis DC Motor Controller BH C 863 Mercury Networkable Single Axis DC Motor Controller Physik Instrumente PI GmbH amp Co KG Auf der Roemerstr 1 76228 Karlsruhe Germany Tel 49 721 4846 0 Fax 49 721 4846 299 Moving the NanoWorld www pi ws info pi ws www pi ws Physik Instrumente PI GmbH amp Co KG is the owner of the following company names and trademarks PI Mercury Mercury Step The following designations are protected company names or registered trademarks of third parties Windows LabVIEW Copyright 2007 by Physik Instrumente PI GmbH amp Co KG Karlsruhe Germany The text photographs and drawings in this manual enjoy copyright protection With regard thereto Physik Instrumente PI GmbH amp Co KG reserves all rights Use of said text photographs and drawings is permitted only in part and only upon citation of the source Document Number MS176E Release 1 0 1 MercuryNativeCommands MS176E101 doc Subject to change without notice This manual is superseded by any new release The newest re
23. TL signals to the input lines and displays the state of the output lines on LEDs The following examples illustrate some techniques that are useful in macro programming to make the Mercury a stand alone controller under operator control In the descriptions below parameters that are said to be programmed are set before operation from a host PC Other variable behavior is determined at run time by an operator using the push button box and with no PC connected Example 1 Autostart macro initialization and endless loop functionality MC00 EM5 EM13 MC05 BF DP200 DI DD200 SV80000 SA400000 FE2 WS100 DH SV250000 MC13 EM14 EM15 EM16 EM17 WA20 RP RP Macro 0 Autostart macro that is executed automatically at power up independent of whether a PC is connected or not Using it as a switch to call one or two other macros makes the program easier to understand and maintain Macro 5 Initialization tailored for M 511 PD stages It disengages the motor brake sets the P I D parameters and starts a reference search in the correct direction towards the sensor FE2 When the reference is found the position is defined as zero and the velocity is set to 250 000 counts second Macro 13 Long duration repetition macro At most every 20 ms the sequence of macros named in the EM commands 14 15 16 17 is executed their content is not shown here The RP RP makes the sequence repeat more than 4 billion times in our scale forever Exa
24. acro 0 The autostart macro as defined by the MDO xxx command is automatically executed upon power on or reset Example Command Report TZ MC000 MR5000 WS100 GH CRHLF ETX See also RZ TL Tell acceleration Reports acceleration value setting not the current acceleration This is the acceleration the controller will try to use at the beginning and end of a move www pi ws Native Commands MS176E Release 1 0 1 Page 41 Native Command Reference Piezo Nano Positioning PI Example Command Report TL L 0000900000 VE Version report Reports the copyright notice and revision level of the installed firmware Example Command Report VE 0 2007 Physik Instrumente PI Karlsruhe C 863 Ver 1 09 2007 08 28 WAn Wait Absolute 0 lt n lt 65 535 Inserts a wait period of n milliseconds before executing the next command Example Command Function MR2000 WA3000 MR 2000 This command line will move the motor by 2 000 steps then 3 seconds after the start of the move the motor will move back 2 000 steps Note that the wait period of 3 seconds includes the time the motor is moving MR2000 WS3000 MR 2000 This command line will move the motor by 2 000 steps then after terminating the move it waits for 3000 ms until it moves back for 2000 counts WFn Wait for channel n OFF Waits for digital I O channel n to be OFF
25. ad Example SJ850 Sets the table value to 850 SJ Report J0 850 SMn Set Maximum following error 0 n 32 767 Sets the maximum allowable error between the dynamic target and the actual position May be changed as often as desired to provide maximum protection to the system The normal following error can be monitored during motion with the TF command For maximum system safety use the SM command to limit following error to a value slightly above that required for normal operation www pi ws Native Commands MS176E Release 1 0 1 Page 34 Piezo Nano Positioning PI Native Command Reference ST Stop Motion Stops the motor smoothly The controller reads the motor position when the command is received and moves the motor smoothly to this position using the current acceleration values Depending on the programmed acceleration rate the motor will overshoot and then move back to the captured position The target is set to the current position The previously programmed target is not changed Any command will restart the motor to the previously programmed target If you want to stay at this position send a DH or AB Example ST Stops the motor smoothly and pulls back See also AB SVn Set Velocity Sets the speed to which the motor will be accelerated during subsequent moves The value n is given in counts or micor steps per second On a DC motor if the load chan
26. and set uses counts or steps to measure linear or angular distances Their length in physical units depends on the hardware attached to the controller Counts are defined by the integrated encoders used for position feedback steps refer to steps commanded by stepper motor controllers PI stepper motors are not generally equipped with encoders Conversion values are included with the technical data specification of the connected stage 2 3 Testing Communication Initial communications tests can be performed with either MMCRun if the Edition window opens communication has been established see document MS139E or PITerminal on product CD www pi ws Native Commands MS176E Release 1 0 1 Page 6 Piezo Nano Positioning PI Operating Notes If you are using your own communication routine first send the proper address selection code to wake up the desired device then send the TP command in order to generate a report string like P 0000000012 If you get such a response the controller system is working properly Upon startup with no autostart macro all registers will have been loaded with their default values Some tasks can be performed using these defaults but they may need to be modified for some applications If you do not receive such a response read the Troubleshooting Section here and in the hardware User Manual 2 4 Operating Motors and Stages Make sure the controller has been woken up by an address selection
27. ands with Responses Some commands cause the controller to send a string of data to the host computer be it a position servo control parameters help or other information These commands also called report commands usually begin with a T tell or G get A compound command or macro containing a report command will also issue the corresponding report when the report command is executed The reports are suppressed however if controller is put in the deselected state 3 3 Command Execution Mode Base or compound commands can be executed in one of two modes www pi ws Native Commands MS176E Release 1 0 1 Page 15 Piezo Nano Positioning PI Native Commands m Direct mode where the command comes in to the selected controller over the active interface m Macro execution mode where commands in macros stored on the controller are being executed The execution mode does not affect the way the controller responds to single character commands or address selection codes sent over the interface Nor does the selection state affect operations in macro execution mode except that reports are suppressed when the controller is deselected 3 3 1 Direct Mode If there is no Macro 0 defined the controller goes into direct mode upon power up or reset There are only two ways to place it in macro execution mode m Call a macro executing an EMn command where n is a defined macro m Make sure Macro 0 is defined and restart e g
28. button is pressed macro 26 is executed Macro 14 Only executed if button 4 is pressed If the button is pressed the velocity is set to 120 000 and macro 20 is executed www pi ws Native Commands MS176E Release 1 0 1 Page 52 Piezo Nano Positioning PI Macro Storage on Controller Macros used for Mode 1 Macro 15 Long duration repetition macro Every 20 ms the sequence of macros 16 17 18 and 19 is executed The RP RP makes the sequence repeat more than 4 billion times in our scale forever Macro 16 Only executed if button 1 is pressed As long as the button is pressed the motor is moved in positive direction Macro 17 Only executed if button 2 is pressed The motor moves 10 000 steps positive When the button is released the macro is exit Macro 18 Only executed if button 3 is pressed The motor moves 10 000 steps negative When the button is released the macro is exit Macro 19 Only executed if button 4 is pressed As long as the button is pressed the motor is moved in negative direction Macros used for modes 2 and 4 Macro 20 Long duration repetition macro Every 100 ms the sequence of macros 25 21 22 23 and 24 is executed The RP RP makes the sequence repeat more than 4 billion times in our scale forever Macro 21 If button 1 is pressed the motor moves to position 100 000 The digital output pattern is set to 1 LED 1 ON The macro exits when the button is released Macro
29. ce the following error to zero when the obstruction has been overcome If the condition is not temporary the following error will typically increase until the programmed limit is reached www pi ws Native Commands MS176E Release 1 0 1 Page 37 Native Command Reference Piezo Nano Positioning PI TI Tell Iterations Reports the current value of the repeat counter It can be used in a repeat loop to determine how many loops are still to perform Example MR100 WS100 WA250 TI RP99 The motor will make repetitive moves of 100 steps with a delay of 0 25 seconds between steps for a total of 100 times The TI command will report the number of iterations remaining to be performed after each iteration Note that this command must be in a repeat loop to be useful Report1 X 40000000000 First TI is executed before the number of loops is specified Report2 X 0000000099 and so on TL Tell Acceleration Reports acceleration value setting not the current acceleration This is the acceleration the controller will use at the beginning and end of a move Example Command Report TL L 0000170000 See also SA Set Acceleration TM n Tell Macros 0 lt n lt 31 Displays one or all currently stored macro commands If n 0 or not specified all macros except the autostart macro will be displayed To display the autostart macro use the TZ command Since macros may be defin
30. commas Sequential execution starts upon receiving the CR which marks the end of the compound command m Single Character Commands e g 0x27 One character without terminator Immediate report or action m Conditional Commands e g XN1 MR5000 For use in compound commands only affect the interpretation of the base commands following them in the compound command 3 1 1 Address Selection Codes An address selection code consists of 2 characters the ASCII character 01 ctrl A followed by an ASCII numeral 0 9 or letter A F for addresses 0 9 and 10 15 respectively for the Board Numbers Device Number minus 1 from 0 to 15 Note that no termination character should be used This sequence instructs the specified controller to enter the selected state and all non specified controllers to enter the deselected state This may occur during execution of another command or macro It is the only command which can affect controllers in the deselected state In the deselected state all commands except address selection codes are ignored and all reports e g from running macros surpressed www pi ws Native Commands MS176E Release 1 0 1 Page 13 Piezo Nano Positioning PI Native Commands Because Mercurys power up in the deselected state an address selection code is typically the first sequence sent See also the SC command for selecting a controller from within its autostart macro 3 1 2 Base Commands
31. der Pushbutton Joystick Control Mercury motor controllers offer convenient manual motion control by using pushbuttons and analog joysticks joystick not supported by C 862 CAUTION Do not enable a joystick axis here when no joystick is connected to the controller hardware Otherwise the corresponding controller axis may start moving and could damage your application setup With the joystick mode enabled both selected and deselected Mercurys can be joystick operated The two joystick axes can be connected through the C 819 20Y cable to two Mercury controllers When a joystick is connected directly to the controller not to the host PC it is the velocity not the position or motion of the target of the controlled axes that is determined by the joystick position NOTE Before a joystick can be operated correctly a calibration routine may need to be performed Activating the joystick before calibration may cause the motor to start moving even though the joystick is in the neutral position To calibrate a joystick axis turn the corresponding Adjust knob on the joystick until the motor stops If using MMCRun this procedure is facilitated by clicking Adjust in the Joystick pane See the MMCRun software manual for details www pi ws Native Commands MS176E Release 1 0 1 Page 48 Piezo Nano Positioning PI Macro Storage on Controller The C 170 PB pushbutton box connects to the Mercury I O connector It allows applying T
32. e the term controller address is sometimes used for the device number starting with 1 and sometimes for the DIP switch setting starting with 0 Commands sent over the interface go the controller which is in the selected state and are ignored by the others Most native Mercury commands begin with a two letter mnemonic Because the commands address only the selected controller they do not themselves include controller or axis designators The syntax of the native commands and a command reference in alphabetical order can be found in Section 4 4 Up to 16 Mercury Class controllers can be networked with each other and controlled over the same RS 232 or USB interface The controllers interconnect with an RS 232 bus architecture The networking feature permits addressing each controller individually During communication with a controller all other controllers in the network will stop communication but unconcluded motion of the connected axes servo control and or macro execution will continue Whenever desired The RS 232 output stages of some PCs may not be capable of driving more than 6 units if this is a problem use USB to interface with the PC www pi ws Native Commands MS176E Release 1 0 1 Page 4 Piezo Nano Positioning PI Introduction communication with the selected controller can be concluded and communication with a different controller initiated Switching between controllers requires sending an address sel
33. ection code consisting of two characters see Section 2 4 2 on p 8 Each controller compares the address in the address selection code with its own address If there is a match the controller enables command interpretation and response so as to respond to subsequent commands If not it disables all responses and ignores any subsequent transmissions except address selection codes The controllers can continue internal macro operation even when no longer selected This means that all controllers connected can execute individual macro commands at the same time There is no direct communication from controller to controller unless the digital I O lines are interconnected and suitably programmed only from controller to the PC The host program must handle address selection and motion sequencing among different controllers This communication model imposes certain limits for path interpolation and multi axis motion control as well as for conditional motion execution Any motion sequence or operation begun prior to receiving a disabling address selection code will continue to be executed except for commands that issue reports over the link In this manner each Mercury on the bus can be selected programmed to execute a desired operation or sequence of operations then deselected The same or a different command sequence can then be sent to another controller See the Networking section p 9 for programming examples 1 3 Input Output Lines
34. ed in any order the TM command is useful for confirming the existence of as well as listing the contents of a macro Example www pi ws Native Commands MS176E Release 1 0 1 Page 38 Piezo Nano Positioning PI Native Command Reference Command Report TM 1 MC001 MR55555 TMO MC001 MR55555 MC002 MA120000 See also TZ Tell Macro 0 TP Tell Position Reports the absolute position of the motor TP may be used to monitor motion during both motor ON and motor OFF status With stepper motor versions only commanded motion is accounted for Also implemented as single character command apostrophe Command Report TP P 0000005555 TP WA100 RP causes the controller to report the position every 100 ms TS Tell Status Reports the status of the system its motion and limit switch states Also implemented as single character command First hex digit holds bits 7 through 4 last hex digit holds bits 3 through 0 LSB is bit 0 www pi ws Native Commands MS176E Release 1 0 1 Page 39 Native Command Reference Piezo Nano Positioning PI Byte 1 1 character 2 character Bit 4 Macro running Bit 5 Motor OFF Bit 6 Brake ON Bit 7 Drive current active Bit 0 Ready Bit 1 On target Bit 2 Reference drive active Bit 3 Joystick ON Byte 2 1 character 2 character Bit 4 Digital input 1 Bit 5 Digital input 2 Bit 6 Digital input 3 Bit 7 Digital input 4 Bit 0
35. er Typically DIP switch 7 ON for active low OFF for active high See also LL LN LF LL Limit switch active LOW Sets the controller to expect both limit switch inputs to be active low PI stepper motor drives typically have active low limit switches When a limit switch input is less than 1 volt and limits are enabled motion in the corresponding direction will be terminated Make sure the hardware limit switch polarity is properly set on the controller Typically DIP switch 7 ON for active low OFF for active high See also LH LN LF www pi ws Native Commands MS176E Release 1 0 1 Page 29 Piezo Nano Positioning PI Native Command Reference LN Limit switch operation ON Enables software limit switch operation When a limit switch is encountered during motion motion is halted and is no longer possible in that direction as long as the switch remains closed The target is changed to the position at which the limit switch was encountered Movement in the reverse direction is not affected This does not affect the hardware interlock in the controller circuitry if present C 663 and C 863 Make sure the hardware limit switch polarity is properly set on the controller DIP switch 7 ON for active low OFF for active high PI DC motor drives typically have active high limit switches stepper motor drives active low See the hardware User manuals for complete information See also LF LH LL MAn Move Absolute 1 0
36. esponding button upon www pi ws Native Commands MS176E Release 1 0 1 Page 50 Piezo Nano Positioning PI Macro Storage on Controller start up thereafter the buttons function as defined for the mode chosen as can be seen from the macro descriptions Mode 1 The motor moves at one of two programmed speeds as long as one of the buttons is pressed The types of motion associated with the four buttons are positive fast positive slow negative fast and negative slow Mode 2 The motor moves to pre defined positions at a programmed speed and acceleration Mode 3 The motor moves by long or short increments at a programmed speed Mode 4 Same as mode 2 but with a different speed setting Mercury Macro File MC00 EM 9 EM 10 MC09 BF DP200 DI DD200 SV80000 SA400000 FE2 WS100 DH SV250000 MC10 EM11 EM12 EM13 EM14 MC11 XN1 SV70000 EM15 MC12 XN2 SV250000 EM20 MC13 XN3 EM26 MC14 XN4 SV120000 EM20 MC15 EM16 EM17 EM18 EM19 WA20 RP RP MC16 XN1 MR9999999 WF1 AB1 MC17 XN2 MR10000 WF2 MC18 XN3 MR 10000 WF3 MC19 XN4 MR 9999999 WF4 AB1 MC20 EM25 EM21 EM22 EM23 EM24 WA100 RP RP MC21 XN1 MA100000 CP1 WF1 MC22 XN2 MA50000 CP2 WF2 MC23 XN3 MA 50000 CP4 WF3 MC24 XN4 MA 100000 CP8 WF4 MC25 XN2 XN3 GH CP6 WF2 WF3 MC26 EM27 EM28 EM29 EM30 WA30 RP RP MC27 XN1 MR4000 WS50 WA20 MC28 XN2 MR2000 WS50 WA20 MC29 XN3 MR 2000 WS50 WA20 MC30 XN4 MR 4000 WS50 WA20 The
37. ets digital l O output channel n to OFF low OV No other channels are affected Command CFn Parameter n indicates the digital I O output channel can be 1 2 3 or 4 Report none see also CN CP Example CF3 sets digital I O output channel 3 to zero CNn Channel ON range n 1 4 Sets digital I O output channel n to ON high 5V No other channels are affected Command CNn Parameter n indicates the digital I O output channel can be 1 2 3 or 4 Report none See also CF CP CPn Channel Pattern range n 0 to 15 Sets digital output channels 1 to 4 according to the digits in the binary representation of value of n bitmapped n 0 sets all channels to low OV n 15 sets all channels to high 5V n 3 sets channels 1 and 2 high channels 3 and 4 low and so on Command CPn Parameter nis interpreted as a decimal number representing the bit pattern for digital l O output channels 1 to 4 Report none see also CN CF www pi ws Native Commands MS176E Release 1 0 1 Page 23 Native Command Reference Piezo Nano Positioning PI Examples CP5 Sets channels 1 and 3 high 2 and 4 low 5 0101 CP15 Sets all channels high CPO Sets all channels low CS CheckSum Reports the current firmware version Command Report CS C 0106 DCn Define Drive Current C 663 Mercury Step only sets the motor phase current drive current for movin
38. f button 3 is pressed the motor moves 2 000 steps waits until the position is reached then waits for another 20 ms and repeats the move as long as the button remains depressed If button 4 is pressed the motor moves 4000 steps waits until the position is reached then waits for another 20 ms and repeats the move as long as the button remains depressed www pi ws Native Commands MS176E Release 1 0 1 Page 54
39. g state Parameter n Current in mA Example DCA400 Sets the drive current to 400 mA See also HC HT DDn Define Derivative gain 0 n 32 767 DC motor versions only Sets the gain to be applied to the derivative term in the PID algorithm The primary purpose of this term is to increase damping and reduce overshoot at the end of motion DHn Define Home Defines the current motor position as n home position will be n counts steps away Example www pi ws Native Commands MS176E Release 1 0 1 Page 24 Piezo Nano Positioning PI Native Command Reference DH Defines the current position as 0 DH20000 Defines the current position as 20000 Din Define Integral gain DC motor versions only Sets the gain to be applied to the integral term in the PID algorithm The primary function of this term is to overcome friction induced static errors DLn Define Integral Limit DC motor versions only Limits the amount of contribution by the integral gain function DPn Define Proportional gain DC motor versions only Sets the slope of the proportional relationship between the position error and the motor voltage The higher the gain value set the greater the stiffness of the position coupling meaning that a small error value causes a proportionally larger motor current driving the motor towards the target The default gain value usually ensures stable operatio
40. ges the controller attempts to maintain the velocity by varying the motor drive signal Example SV60000 Sets the velocity of motion to 60 000 counts or steps per second TAn Tell Analog Input Analog values can be read through the input channels 1 to 4 for C 862 1 to 3 with a resolution of 8 bits n indicates the input channel If n 0 all 3 or 4 values are reported n 5 gives the joystick voltage range 0 to 5 V and n 6 the button state not supported for C 862 www pi ws Native Commands MS176E Release 1 0 1 Page 35 Piezo Nano Positioning PI Native Command Reference Examples TA1 Report TA1 195 TA Report TA1 185 TA2 190 TA3 220 TA4 230 TB Tell Board Address Reports the Board Number Device Number minus 1 of the currently selected Mercury controller Device Numbers 1 16 are typically set with the first 4 DIP switches 0 15 negative logic See the hardware User Manual for more information TB B 0 Address selection codes use board numbers not device numbers TCn Tell Channel Reads the digital I O input on channel n See the hardware user manual for pinout Digital channels can also be read with the single character command Parameter n Digital I O channel number range 1 4 if n 0 then the state of all 4 channels is reported as a hexadecimal number from 0 to F with each bit corresponding to the state of
41. he move will continue until interrupted with the AB1 command That command will only be executed after the button initiating the move is released MC19 XN2 WS0 MR500 Button 2 causes repeated step moves of 500 counts until the button is released Differs from a continuous move in that the end position will be a multiple of 500 from the start Placing the WS before the move allows the rest of the loop to complete before the move has finished MC18 XN3 MR5000 WF3 Button 3 causes a step move of 5000 counts in the positive direction The WF3 command ensures that there will be only one step per press of the button MC18 XN4 CF1 CF2 MA 50000 EM19 CN1 EM20 EMxx MC19 XF1 MR10 WSO RP10000 MC20 XF1 CN2 Input 4 initiates a move to 50000 followed by a step move of 10 x 10 000 counts that can be interrupted with a resolution of 10 counts by a signal on input 1 When the step move stops digital output 1 is set high if the move went to the end then output 2 will also be set Note that it is no longer possible to return to the macro that called Macro 18 because of the nesting limit The solution is to chain to the calling macro explicitly with EM A multi dimensional scan can be arranged by properly interconnecting the IO lines of the Mercury controllers controlling the different axes Example 4 This large macro set is designed to allow fully autonomous operation in any of four modes The desired mode is selected by pressing the corr
42. lease is available for download at www pi ws About This Document Users of This Manual This manual assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures This manual is designed to help the reader operate Mercury Class controllers using the native command set including native controller macros This document is available as PDF file on the Mercury product CD Updated releases are available for download from www pi ws or by email contact your Physik Instrumente Sales Engineer or write info pi ws Conventions The notes and symbols used in this manual have the following meanings CAUTION Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in damage to equipment NOTE Provides additional information or application hints Related Documents The Mercury controller and the software tools which might be delivered with the controller are described in their own manuals see below All documents are available as PDF files via download from the PI Website http www pi ws For updated releases or other versions contact your Physik Instrumente Sales Engineer or write info pi ws User Manuals for hardware Give dimensions connections and specifications of the hardware components MMCRun MS139E Mercury Operating Software native commands Mercury Native DLL amp LabVIEW
43. ll be executed automatically immediately after a system reset or power up This allows specification of a motion program that is automatically executed when power is applied and is the mechanism by which stand alone operation is implemented Macro 0 may also be used to set power up default parameters either before manual computer control is begun or before transferring control to other macros for stand alone operation Macro 0 is defined by the MDO xxx command where xxx represents a comma separated list of base commands e g MDO MR50000 WS100 GH WS100 RP4 CR Macro 0 can be erased by RZ ICR The contents of macro zero can be read by TZCR Stand Alone Operation Examples Mercury controllers offer the extremely useful feature of autonomous macro execution meaning that positioning tasks can be programmed for execution at power up even if there is no PC connected The macro language supports conditional command execution which in conjunction with the digital I O lines and a small push button box C 862C 862 PB3 provides virtually unlimited operational flexibility www pi ws Native Commands MS176E Release 1 0 1 Page 47 Macro Storage on Controller Piezo Nano Positioning PI X gt Pushbutton 1 Pushbutton 2 Y Adjust te Spring Release X Fig 1 C 819 30 Joystick and C 170 PB Pushbutton box with LEDs for Mercury Controllers 5 3 1 Macros Un
44. ller 5 1 Features The native command macro storage facility has the following features Each macro can contain up to 16 base commands Macros are identified by the numbers 0 to 31 Macro 0 if defined is the Autostart Macro which is executed automatically upon power up or reset m Macros are executed on the controller where they are stored so commands in a macro may address only the axis and or I O channels associated with that controller there is no command interface communication between controllers Interaction between separate axes is conceivable only through suitable programming and hardwiring of I O lines W Once started a controller macro can continue even if the controller is in the deselected state 5 2 Basic Macro Operation 5 2 1 Defining a Macro To define a macro command use an MDn Macro Definition command as the first instruction in a compound command followed by a comma separated list of base commands n sets the macro number Note that the system gives no warning if you define and overwrite an existing macro Example 1 MD1 MR5000 CR With this command string the base command MR5000 is stored as macro command 1 The move command is not executed until the macro command is executed www pi ws Native Commands MS176E Release 1 0 1 Page 45 Piezo Nano Positioning PI Macro Storage on Controller Example 2 MD3 MR1000 WS100 MR 1000 WS100 RP5 CH With this command the compo
45. mands MS176E Release 1 0 1 Page 3 Piezo Nano Positioning PI Introduction 1 1 1 Software Installation If you wish to use any of the GCS based software the Windows Setup installation procedure on the product CD must be used The setup routine will start automatically when the product CD is inserted Be sure to log in with administrator privileges to run Setup If using only the native command based software it is possible to bypass the Setup Wizard 1 If using the USB interface the USB driver has to be installed log on to the PC with administrator privileges When the Mercury is connected and powered up Windows will discover the new hardware Follow the on screen instructions and show the Hardware Wizard the Driver directory on the Mercury CD NOTE Windows NT does not have USB support as standard PI supports only the RS 232 interface for Windows NT Unless you manage to get USB interfacing operational the number of networkable devices may be limited to as few as 6 units by the current sourcing capacity of the PC s COM port output stages 2 Copy the contents of the MMCRun directory to the host PC To start MMCRun double click the EXE file of the same name 1 2 Control of Multiple Axes Multiple controllers controlled over the same RS 232 or USB interface are distinguished by hardware addresses typically set in DIP switches using an address selection mechanism Note that in other documentation and softwar
46. mple 2 These macros illustrate conditional command execution The macro executes from left to right but the XN and XF commands cause the macro to exit immediately if the state of the specified input line button does not meet the required condition high for XN low for XF MC15 XN1 XN2 SV30000 WF1 WF2 The above macro sets the speed to 30 000 if button 1 and 2 are pressed together Macro exits when both are released MC13 XN1 WA30 XF2 SV10000 WF 1 The above macro sets speed to10 000 if button 1 is pressed unless button 2 is pressed within 30 ms because that is probably an attempt to press both at once www pi ws Native Commands MS176E Release 1 0 1 Page 49 Piezo Nano Positioning PI Macro Storage on Controller MC14 XN2 WA30 XF2 SV20000 WF2 Sets the speed to 20 000 if button 2 is pressed unless button 1 is pressed within 30 ms MC16 XN3 SV70000 CP8 WA200 XN3 SV130000 CP12 WA200 XN3 SV190000 CP14 WA200 XN3 SV250000 CP15 WF3 Button 3 sets one of 5 speeds depending on how long it is held in LEDs indicate the progression Every 200 ms the speed is reset and the number of LEDs lit is changed accordingly Note that the most significant bit for CP corresponds to the bottom LED Example 3 The following macros illustrate various types of moves that are useful under operator control MC17 XN1 MR 9999999 WF 1 AB1 Button 1 causes a continuous move in the negative direction The target is out of range so t
47. n The optimum value depends on friction inertia motor power and the resolution of the encoder It must be determined by the user If the error reported by an axis after completing its motion is excessive the gain value may be increased in small increments until the error is within acceptable limits If the axis becomes unstable and begins to oscillate the gain must be reduced until the oscillation stops Example DP22080CR Sets proportional gain of 22080 www pi ws Native Commands MS176E Release 1 0 1 Page 25 Native Command Reference Piezo Nano Positioning PI EMn Execute Macro Command n range n 1 to 31 Used to run a previously defined macro command If there is no macro defined for the number n no action will be taken If the EM command is executed in a macro control will be returned to the command after EM unless the called macro itself calls another macro Example EM3 Execute macro 3 See also MD FEn FindEdge range m 0 tp 3 Searches for the reference origin position The motor moves until a transition on the reference line is detected In conjunction with a physical reference switch FE can be used to move to a known origin position The physical origin point is where the reference input line detects a transition from GND to 5V or vice versa Most of Pls mechanical stages have a reference sensor that can be used with this feature Note that the physical positio
48. n corresponding to the transition will differ slightly when the reference switch is approached from different sides The meaning of the parameter n is n 0 Search starts in positive direction n 1 Search starts in negative direction n 2 Auto Referencing Option With standard PI stages search starts in correct direction towards reference point n 3 Auto Referencing Option for stages with non standard reference signal level Examples www pi ws Native Commands MS176E Release 1 0 1 Page 26 Piezo Nano Positioning PI Native Command Reference FEO Causes motor to move in a positive direction until the reference signal changes state If the reference input is high when the command is issued the motor runs toward the positive limit until the input changes to low and vice versa FE1 Causes the motor to move in a negative direction until the reference input changes state GH Go Home Causes the motor to move to the currently defined zero position Equivalent to an MAO Move to zero position command Example GH Moves motor to zero position HC Set Hold Current Stepper motor versions only Sets the hold current for the stepper motor The hold current becomes active after a programmable time after a move has terminated Normally the hold current is about 25 of the drive current and this allows to keep the temperature of the stepper motor down close
49. nd Reference XNn Execute if ON Execute the remainder of a command line only if input channel n is ON 5V Example Command Function XN3 MR5000 This command moves the motor by 5000 counts steps only if input channel 3 is high 5 V See hardware User Manual for number and pinout of digital inputs YF Execute if OFF Refers to joystick button 1 Execute the remainder of a command line only if the joystick button connected to joystick button input 21 is OFF 0 V See the hardware User Manual for connecting a joystick with 1 or 2 controllers Example Command Function YF MR5000 Moves the motor by 5000 counts steps only if the correctly associated joystick button is not pressed YN Execute if ON Execute the remainder of a command line only if the joystick button connected to joystick button input 1 is ON 45V See the hardware User Manual for connecting a joystick with 1 or 2 controllers Example Command Function YF MR5000 Moves the motor by 5000 counts steps only if the correctly associated joystick button is pressed www pi ws Native Commands MS176E Release 1 0 1 Page 44 Piezo Nano Positioning PI Macro Storage on Controller 5 Miacro Storage on Controller Macros can be a most powerful tool for the programmer A macro command is a Base Command or a Compound Command stored nside the Controller Up to 32 macros can be stored in non volatile memory on each Mercury Class contro
50. ost computer and a selected Mercury with the other Mercurys in the deselected state Mercury Class controllers are in the deselected state upon power up or reset although the autostart macro if any will be executed and could change the state In the deselected state they do not execute or respond to any commands on the interface The host computer can select a particular controller by sending a 2 character address selection code over the communications link This method is often used even if there is only one Mercury controller connected Alternatively an SC Select Controller see Section 4 2 on p 19 command in the autostart macro Section 5 2 5 on p 47 of one of the Mercurys can be used to select that unit On Mercury Class controllers the Device Number is typically set by DIP switches Each controller in a network must have a unique address After sending the address selection code you can verify correct activation by sending the TB command If there is a Mercury controller connected with the same address as the one most recently selected it will respond to the TB command with the same address Board Number If there is no response then the address did not match that of any Mercury controller connected to the network 2 6 Joystick Control 2 6 1 Handling CAUTION Do not enable a joystick axis here when no joystick is connected to the controller hardware Otherwise the corresponding controller a
51. roller Puts the controller in the selected or deselected state If n is the Board Number Device Number minus 1 of the controller on which the command is executed the controller is placed in the se ected state If this command is used in a host macro in MMCRun it causes the host PC to place the controller with address n in the selected state and all other controllers in the deselected state This command is designed for use in the autostart macro Example www pi ws Native Commands MS176E Release 1 0 1 Page 33 Piezo Nano Positioning PI Native Command Reference sco If run on the controller with address 0 puts it in the selected state MDO SCO Assuming the controller s address is 0 then after power on then after executing this command then after future power ups or resets the device will ready to communicate without waiting for its address selection code Sin Set Joystick Table Index For user defined joystick tables the table value for each table index 0 to 255 can be set by command With the SI command the table index is defined and the next write command SJ will write to that index location Example SI200 Sets the table index to 200 SI Report I0 200 SJn Set Joystick Table Value For user defined joystick tables the table value can be written to the index position Table values range from 0 to 1023 With the SJ command the table value can be re
52. s Joystick ON with a maximum velocity of 20 000 micro steps s See also JF JT JTn Loads Joystick Table Selects a joystick sensitivity profile Example www pi ws Native Commands MS176E Release 1 0 1 Page 28 Piezo Nano Positioning PI Native Command Reference JT Loads Joystick Table with linear values JTO Loads Joystick Table with linear same as JT JT1 Loads Joystick Table with cubic values See also JN JF LF Limit switch OFF Disables software limit switch operation The LN and LF commands affect only the software The LF command should only be used when hardware limit switches are not installed This does not affect the hardware interlock in the controller circuitry if present C 663 and C 863 Make sure the hardware limit switch polarity is properly set on the controller DIP switch 7 ON for active low OFF for active high PI DC motor drives typically have active high limit switches stepper motor drives active low See the hardware User manuals for complete information See also LN LL LH LH Limit switch active HIGH Sets the controller to expect both limit switch inputs to be active high PI DC motor drives typically have active high limit switches When a limit switch input is greater than 3 V and limits are enabled motion in the corresponding direction will be terminated Make sure the hardware limit switch polarity is properly set on the controll
53. s except Macro 0 RMn Removes macro n RMALL Remove Macros and Parameters Removes all macros stored including Macro 0 and resets all parameters to their start up values Example RMALL Removes all macros and resets parameters RPn Repeat n times Causes the command string to repeat n times Limitation n 2 32568 If nis not specified the command s in the string repeats indefinitely The repeat loop may be interrupted by sending any character except for a single character command or a 2 character address selection code Example www pi ws Native Commands MS176E Release 1 0 1 Page 32 Piezo Nano Positioning PI Native Command Reference TP WA250 RP12 The command TP tell position is repeated 12 times RT Reset Restarts the internal firmware operation as if from a power off condition All parameter values are restored to their defaults If the autostart macro Macro 0 is defined it will be executed RZ Remove Macro Zero Used to remove the autostart macro macro 0 from memory Example RZ Removes the autostart macro SAn Set Acceleration Sets the acceleration in counts or micro steps per second squared Typical acceleration values C 663 10 000 to 100 000 default 20 000 steps C 863 C 862 50 000 to 2 000 000 default 400 000 counts Example SA60000 Sets the acceleration to 60 000 counts or steps s SCn Select Cont
54. s for user defined joystick tables see Command Reference section for more details SIn Sets Index pointer for joystick table A new table value can then be written with the SJ command SI Report command asking for the current index value SJn Sets the table value at active index to n Range of n 0 to 1024 Value 1024 represents maximum velocity 0 standstill SJ Report command asking for the current table entry Typical Command Sequence SIO SJO SI1 SJ5 SI2 SJ10 SI3 SJ15 etc e 7 Limit Sensors During operation limit sensors switches can be used to stop motion at the end of the allowable travel range Each of the two switches will interrupt motion in a particular direction If positioning equipment from PI is used the limit switches or sensors are pre wired for operation with compatible Mercury controllers The Mercury controller can be configured to accept either an active high or an active low stop signal from the limit sensors both must be the same www pi ws Native Commands MS176E Release 1 0 1 Page 11 Operating Notes Piezo Nano Positioning PI On the C 663 and C 863 the limit switch signals are interpreted by both the controller hardware and software DIP switch 7 changes the hardware interlock between active high OFF and active low ON For the software configuration the following commands are used with all Mercurys LH Limit switch logic active high p
55. se macros can be stored permanently in the Mercury Controller The data file itself is an ASCII file and can be stored using the file manager of the www pi ws Native Commands MS176E Release 1 0 1 Page 51 Piezo Nano Positioning PI Macro Storage on Controller Mercury Move Software Macro 0 Autostart macro that is executed automatically at power up independent of whether a PC is connected or not It calls two other macro commands macro 9 and macro 10 Overall initialization Macro 9 Tailored for M 511 PD stages It disengages the motor brake sets the P I D parameters and starts a reference search in the correct direction towards the sensor FE2 When the reference is found the position is defined as zero and the velocity is set to 250 000 counts s Macro 10 Calls the sequence of macros 11 12 13 and 14 This is used to find a button pressed at power up or just after the reference position is found If a button is just pressed another macro is called If not Mercury goes to normal operation and waits for command input Macros that set up and jump to the sections corresponding to each mode Macro 11 Only executed if button 1 is pressed If the button is pressed the velocity is set to 70 000 and macro 15 is executed Macro 12 Only executed if button 2 is pressed If the button is pressed the velocity is set to 250 000 and macro 20 is executed Macro 13 Only executed if button 3 is pressed If the
56. sssssssesseeeeneeenen nennen 46 524 Limitations essen 46 525 Macro 0 autostart macro 47 53 Stand Alone Operation Examples ssessses 47 531 Macros Under Pushbutton Joystick Control 48 www pi ws Native Commands MS176E Release 1 0 1 Page 2 Piezo Nano Positioning PI Introduction 1 Introduction Mercury Class controllers include the C 663 Mercury Step open loop stepper motor controller as well as the C 862 and C 863 Mercury DC motor servo controllers The C 170 Redstone piezomotor controller is also closely related but is no longer active With current firmware it is possible to operate Mercury controllers with two ASCII command sets the native command set and the PI General Command Set GCS GCS support is currently provided via a Windows DLL which translates GCS command based function calls to the native commands Either command set can be used to set operating modes transfer motion parameters and to query system and motion values See the Mercury GCS Command manual MS163E for a description of the GCS command set This manual covers only the native command set 1 1 Available Native Command Software The native ASCII command set is understood by the current Mercury firmware directly With Mercury Class controllers all motion of the connected motors and mechanical stages is software controlled To offer maximum flexibili
57. tive Commands Piezo Nano Positioning PI The compound command in the following example instructs the motor to move 1000 steps counts in the positive direction wait in that position 500 milliseconds return to the original position wait 1 second and then repeat the sequence 5 times Example MR1000 WS100 WA500 MR 1000 WS100 WA1000 RP5 Once this compound command is entered it remains in the buffer until replaced by another non blank line of input and can be re executed by sending a carriage return CR alone blank line 3 1 4 Single Character Commands Single character commands are used to generate a report or carry out an action by sending only one character without a following CR This allows faster requests saving the second character and the CR but the main advantage of single character commands is that they are executed immediately even when the controller is in the process of executing a macro or compound command without interrupting a running sequence except for the motor stop command Find a complete overview of single character commands in the Command Reference section on p 21 3 1 5 Conditional Commands Conditional commands are normally used in compound or macro commands The state of an input line decides weather the following command s are executed or not Example XN4 MR5000 The relative move is only executed if digital input 4 is ON high 3 2 Comm
58. to room temperature Example HC250 Set hold current to 250 mA See also DC HT HT Set Hold Time Stepper motor versions only Sets the hold time that is the delay time between completion of a move and the activation of the hold current Example HT500 Set hold time to 500 ms See also DC HC GP Get Proportional term DC motor versions only Reports the current Proportional Gain value This value can be changed with the DP Define Proportional Gain command www pi ws Native Commands MS176E Release 1 0 1 Page 27 Piezo Nano Positioning PI Native Command Reference Report G 0000000080 GL Get Integration Limit DC motor versions only Reports the current Integration Limit value This value can be changed with the DL Define Integration Limit command Report M 0000002000 JF Joystick OFF Disables joystick operation and enables normal command mode Example JF Set Joystick OFF See also JN JN Joystick ON Enables Joystick operation The parameter n represents the maximum joystick velocity in counts or micro steps s The joystick axis position is then used to set the motor velocity Caution Do not enable a joystick axis here when no joystick is connected to the controller hardware Otherwise the corresponding controller axis may start moving and could damage your application setup Example Mercury Step JN20000 Set
59. ton is ON Native Commands MS176E Release 1 0 1 Page 20 Piezo Nano Positioning PI Native Command Reference 4 3 Single Character Commands Single character commands are used to generate a report or initiate an action by sending only one character without terminator This allows faster requests saving the second character and the CR but the main advantage of single character commands is that they are interpreted immediately and executed asynchronously They can thus be used during execution of macros or compound commands without interrupting a running sequence Char Equivalent ASCII ASCII hex Report Comment Command decimal generated TE 43 0x2B E xxx Tell Position Error TF 40 0x28 F xxx Tell Following Error 9o TS 37 0x25 S xxx Tell Status unm TC 35 0x23 H00 xxx Tell Channel is TP 39 0x27 P xxx Tell Position Bs AB 33 0x21 none Motor stop Y none 92 0x5C Oor1 moving status Kl TA2 47 Ox2F A2 XXXx Tell Analog 2 amp TA1 38 0x26 Ad xxxx Tell Analog 1 p TA4 41 0x29 A4 XXXX Tell Analog 4 some commands not available for C 862 some commands not available for C 663 Mercury Step NOTE Single character commands are sent without any terminator As soon as such a character is recognized the command is executed www pi ws Native Commands MS176E Release 1 0 1 Page 21 Piezo Nano Positioning PI Native Command Reference 4 4 Base Command Reference in Alphabetic Order NOTE All
60. ty software interfaces at a number of different levels are provided and documented Most of the individual programs and driver libraries are described in separate manuals Updated releases are available on the PI Website or via email contact your PI Sales Engineer or write info pi ws m JPlTerminalis a Windows program which can be used as a simple terminal with almost all PI controllers It supports both direct and via GCS DLL connection to Mercury controllers via RS 232 and USB the USB link also looks like a COM port to host software when the USB drivers are installed and the connection is active P Terminal also handles controller selection by device number in a Mercury network When used without the GCS DLL firmware native commands can be used with the connected controllers m MMCRun operating software for Windows 95 98 2000 XP NT and Vista is the operating software for C 863 and C 862 Mercury and C 663 Mercury Step controllers MMCRun allows immediate operation of the motion system It features easy commanding and macro programming of Mercury Class controllers See MS139 for a full description m MMC410 DLL Windows DLL see MS177 for details facilitates many interfacing operations and data conversion tasks Based on native command set Wm LabVIEW Vis facilitates integrating these controllers in the LabVIEW environment Uses the native command MMC410 DLL above See SM177 for details www pi ws Native Com
61. und command MR1000 WS100 MR 1000 WS100 RP5 is stored as macro 3 5 2 2 Executing Starting a Macro To execute call up run the macro defined above just issue the command EM3 Unlike MD commands EM commands can be used anywhere in compound commands 5 2 3 Stopping a Macro Macro commands terminate either naturally when they have completely executed or they can be stopped when the controller is addressed and receives any character except a single character command CH or an address selection code Example 3 Assuming the macro MR500 WS200 RP10000 is running and will not terminate until 10000 moves of 500 counts each are completed If you want to stop this sequence just send a character e g x without CR and the macro stops executing The macro can be started again by EMn where n is the number of the macro 5 2 4 Limitations Up to 32 macro sequences each holding up to 16 base commands can be stored in the Mercury Class controller s flash memory 31 macro sequences numbers 1 to 31 are available for general use Macro 0 is special it is called the autostart macro and if defined is run automatically upon power up or reset see next section Macro commands may be stored in any order but you may prefer to number them sequentially as they are entered because the system gives no warning if you define and overwrite an existing macro A macro command can call other
62. xis may start moving and could damage your application setup Most Mercury Class motor controllers offer convenient manual motion control by using analog joysticks With the joystick mode enabled both selected and deselected Mercury s can be joystick operated The two joystick axes can be connected through the C 819 20Y cable to two compatible Mercury controllers When a joystick is connected directly to a controller not to the host PC it is the velocity not the position or motion of the target of the controlled axes that is determined by the joystick position The RS 232 output stages of some PCs may not be capable of driving more than 6 units if this is a problem use USB to interface with the PC www pi ws Native Commands MS176E Release 1 0 1 Page 9 Operating Notes Piezo Nano Positioning PI NOTE If the Y cable is used to connect a joystick to two controllers the X branch must be connected to a powered up controller because joystick power is taken from that side NOTE Before a joystick can be operated correctly a calibration routine may need to be performed Activating the joystick before calibration may cause the motor to start moving even though the joystick is in the neutral position To calibrate a joystick axis turn the corresponding Adjust knob on the joystick until the motor stops If using MMCRun this procedure is facilitated by clicking Adjust in the Joystick pane See the MMCRun software manual for

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