PI E-625 User Manual
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PI E-625 User Manual

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PZ167E
E-625 Piezo Servo Controller
User Manual
2.0.0
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
15.09.2021
This document describes the following products:
E-625.SR
Piezo-servo controller, single channel, for strain
gauge
E-625.S0
Piezo-servo controller, single channel, for strain
gauge, only analog control

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  • Page 1 Piezo-servo controller, single channel, for strain gauge E-625.S0  Piezo-servo controller, single channel, for strain gauge, only analog control Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws...
  • Page 2 © 2021 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs, and drawings in this manual are protected by copyright. Physik Instrumente (PI) GmbH & Co. KG reserves all rights in this respect. The use of any text, images and drawings is permitted only in part and only when indicating the source.

  • Page 3: Table Of Contents

    Connect a Positioner to the E-625 ................19 Connecting a Signal Source to the E-625 ..............20 Connecting a Measuring Device to E-625 ..............20 Connecting a PC for the Computer-Controlled Mode (only E-625.SR) ....21 5.8.1 Connecting the E-625.SR to a PC ..............22 5.8.2...
  • Page 4 Adjusting the Sensor Range ................. 50 8.5.2 Adjusting the Static Sensor Gain for Closed-Loop Operation ...... 53 8.5.3 Adjusting the Sensor Linearization .............. 55 8.5.4 Digital Corrections (only E-625.SR) .............. 57 Maintenance Cleaning the E-625 ....................59 Updating Firmware ....................59 Troubleshooting Customer Service Technical Data 12.1 Specifications ......................
  • Page 5 12.1.3 Ambient Conditions and Classifications ............69 12.2 Operating Limits ....................... 70 12.3 Dimensions ....................... 71 12.4 Block Diagrams ......................72 12.4.1 E-625.SR Block Diagram ................72 12.4.2 E-625.S0 Block Diagram ................73 12.5 Pin Assignment ......................73 12.5.1 PZT Socket ....................73 12.5.2 Sensor Socket ....................

  • Page 7: About This Document

    Downloading Manuals ........................3 Objective and Target Audience of this User Manual This user manual contains the information required for using the E-625 as intended. It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures.

  • Page 8: Figures

    "E-816" and "PI software" links in the "A000T0081-Downloading Manuals from PI.pdf" file which you can find in the \Manuals folder on the PI software CD. All manuals are available on our website and can also be downloaded (p. 3) individually.

  • Page 9: Downloading Manuals

    1 About this Document INFORMATION The E-625.C0 and E-625.CR models for operation with capacitive sensors are described in a separate manual (PZ166E). Downloading Manuals INFORMATION If a manual is missing or problems occur with downloading:  Contact our customer service department (p. 65).

  • Page 11: Safety

    Organizational Measures ....................... 6 Intended Use The E-625 is a laboratory device according to DIN EN 61010. It is intended to be used in interior spaces and in an environment which is free of dirt, oil and lubricants. The E-625 is designed and intended for driving capacitive loads (e. g. piezo ceramic actuators).

  • Page 12: Organizational Measures

     Add all information from the manufacturer to the user manual, for example, supplements or technical notes.  If you give the E-625 to a third party, include this user manual as well as other relevant information provided by the manufacturer.

  • Page 13: Product Description

    For uniform control of nano and micropositioning systems, the universal command set from PI is used. With GCS, control is independent of the hardware used so that various positioning systems can be controlled together or new systems can be used with minimum programming effort.

  • Page 14: Model Overview

    3 Product Description Model Overview There are 2 standard versions of the E-625. They differ in regard to the available control modes and the possibilities for use in network operation. Model Name E-625.SR Piezo-servo controller, single channel, for strain gauges;...
  • Page 15 The input voltage can also be a computer-generated analog signal (e.g., from a data acquisition board). You can generate this analog signal with the NI LabVIEW driver from PI that is on the PI software CD. Note: After installing the driver, it is necessary to activate the analog functionality, see the file Analog_Readme.txt in the installation directory...
  • Page 16 OFF (up) Signal on ANALOG IN/WTT not used as the trigger for the wave table output or triggered motion The switches 1, 2 and 4 determine the control mode for the E-625 and consequently the usable control sources. Switch Analog Mode Computer-Controlled Mode (only E-625.SR)

  • Page 17: Rear Panel

    Figure 2: E-625 rear panel Network D-sub socket, 9-pole, female for the network connection (E-625.SR only; I C-bus), and the on-target signal from the E-802 servo controller submodule. The on-target signal shows that the distance from the target position is less than ±0.19 % of the travel range.

  • Page 18: Scope Of Delivery

    Protective earth connector The protective earth connector (threaded bolt marked with the symbol for the protective earth conductor) has to be connected to a protective earth conductor, because the E-625 is not grounded via the power adapter connector. DC IN 12–30 V Panel plug for power adapter connector (p.

  • Page 19: Accessories

    Order Description Number E-625.CN Network cable, 0.3 m, for interlinking two E-625 piezo servo controllers C-bus, sensor synchronization; for details see the pin assignment of the cable (p. 75))  To order, contact our customer service department (p. 65). E-625 Piezo Servo Controller PZ167E 2.0.0...

  • Page 21: Unpacking

    4 Unpacking Unpacking 1. Unpack the E-625 with care. 2. Compare the contents with the scope of delivery according to the contract and the delivery note. 3. Inspect the contents for signs of damage. If any parts are damaged or missing, contact our customer service department (p.

  • Page 23: Installation

    High temperatures can overheat the E-625.  Set up the E-625 with a distance of at least 10 cm to the top and rear sides and at least 5 cm to the sides. If this is not possible, make sure that the area is cooled sufficiently.
  • Page 24 Contact resistance < 0.1 ohm at 25 A at all points relevant for attaching the − protective earth conductor Mounting hardware for the protective earth conductor, sits on the protective earth  connector (threaded bolt) in the following order on delivery of the E-625, starting from the housing: − Lock washer −...

  • Page 25: Connecting The Power Supply To The E-625

    3. Connect the power cord to the power supply. Connect a Positioner to the E-625 Requirements  The E-625 is switched off, i.e. the wide-range-input power supply is not connected to the power socket over the power cord. Tools and Accessories The positioner with which the E-625 was calibrated ...

  • Page 26: Connecting A Signal Source To The E-625

    The analog signal must always be in the range of –2 to +12 V. The input voltage can also be a computer-generated analog signal (e.g., from a DAQ board). You can generate this analog signal with the NI LabVIEW driver from PI that is on the PI software CD.

  • Page 27: Connecting A Pc For The Computer-Controlled Mode (Only E-625.Sr)

    In the computer-controlled mode (p. 34), the target value is given, among other things, by motion commands sent from the PC to the E-625.SR via the RS-232 or USB interface. These commands are processed by the E-816 computer interface submodule on the E-625.SSR.

  • Page 28: Connecting The E-625.Sr To A Pc

    Network socket and a ground wire (1, 2 or 5) to the corresponding wire. Furthermore, for all interlinked E-625.CRs, the sensors must be synchronized over lines 7 and 8 on the Network socket (refer to the PZ166E user manual for the E-625.CR model). Using E-625.CN network cables from PI ensures that all stated connections exist, for details see the pin assignment of the cable (p.
  • Page 29 Requirements  All devices to be interlinked are switched off, i.e. for all E-625, the wide input range power supply is not connected to the power socket over the power cord.  The piezo servo controller that serves as the communication master is connected to the PC over the RS-232 or USB connection.
  • Page 30  Connect the Network sockets on the rear panels of the housings using the E-625.CN cables (see figure) or other suitable connection cables. Networking can be done in a series or as a star. The E-625.CN cables have D-sub special connectors with which several E-625.CN cables can be plugged into one E-625. The communication master can be selected as desired.

  • Page 31: Startup

    If a protective earth conductor is not or not properly connected, dangerous touch voltages can occur on the E-625 in the case of malfunction or failure of the system. If there are touch voltages, touching the E-625 can result in serious injury or death from electric shock.

  • Page 32: Perform System Test

     You have installed the positioner in the same way as it will be used in your application (corresponding load and orientation).  The E-625 is switched off, i.e., the wide input range power supply is not connected to the power socket with the power cord.
  • Page 33 − 2. Connect the power cord on the wide input range power supply to the power socket. The E-625 is ready for operation when the green Power LED comes on. 3. Determine the resonant frequency of the positioner: a) Connect the function generator to the ANALOG IN/WTT SMB socket using an adapter cable.
  • Page 34 (p. 43) until the positioner shows the optimal settling behavior for your application. 8. When the housing is open: a) Disconnect the E-625 from the power source by removing the power cord of the wide input range power supply from the power socket. b) Close the E-625.

  • Page 35: Adjust The Sensor Zero-Point

    6 Startup The E-625 or the positioner was replaced. In this case, the displacement of the axis  must first be recalibrated (p. 53). INFORMATION  In regular intervals, check the position of the positioner at 0 V input voltage and adjust the sensor zero point if necessary.
  • Page 36 (corresponding load and orientation).  The E-625 has been installed properly (p. 17).  The E-625 is switched off, i.e., the wide input range power supply is not connected to the power socket with the power cord. Tools and Accessories In analog mode only: ...
  • Page 37 3. Connect the power cord on the wide input range power supply to the power socket. The E-625 is ready for operation when the green Power LED comes on. 4. Establish communication between the PC and the E-625, e.g., with PIMikroMove.
  • Page 38  Do not exceed the recommended input voltage range of –2 to +12 V (analog mode).  Do not command any piezo voltage outside of the recommended range of –20 to +120 V (computer-controlled mode). 2.0.0 PZ167E E-625 Piezo Servo Controller...

  • Page 39: Operation

    If a protective earth conductor is not or not properly connected, dangerous touch voltages can occur on the E-625 in the case of malfunction or failure of the system. If there are touch voltages, touching the E-625 can result in serious injury or death from electric shock.

  • Page 40: Operating Modes

    The input voltage can also be a computer-generated analog signal (e.g., from a data acquisition board). You can generate this analog signal with the NI LabVIEW driver from PI that is on the PI software CD. Note: After installing the driver, it is necessary to activate the analog functionality, see the file Analog_Readme.txt in the installation directory (C:\ProgramData\PI\LabVIEW).

  • Page 41: Servo Mode

    Selecting the Operating Mode 7.3.1 Selecting the Control Mode The control mode is set with the Settings DIP switch block on the front panel of the E-625. Analog Mode The analog mode is active when the DIP switch setting is as follows:...

  • Page 42: Selecting The Servo Mode

    The closed-loop operation uses the E-802.55 servo controller submodule that is installed in the E-625. The use of the E-802 servo controller submodule is set (p. 41) with an on-board jumper. In the default position, the E-802 servo controller submodule is active and the servo mode can be set as follows: Settings of the DIP switch block (E-625.SR and E-625.S0)

  • Page 43: Adjustment Of Internal Settings

    DANGER Risk of electric shock during operation with open housing! If the E-625 is operated with an open housing, live parts are accessible. Touching the live parts can result in serious injury or death from electric shock.  Only open the E-625 housing when you are authorized and have the corresponding qualifications.

  • Page 44: Opening The Housing

     Contact our customer service department (p. 65) if you are not sure whether a change to the system settings is necessary. If necessary, you can adjust the following settings in the inside of the E-625 housing. Notch filter and P-I controller for optimal settling behavior (p. 43) ...

  • Page 45: Adjustment Elements Inside The Housing

    The following figures show the positions of the components and adjustment elements (jumpers, switches) on the main board of the E-625.SR, on the E-801 sensor submodule, and on the E-802.55 servo controller submodule. The sensor and servo controller submodules are plugged vertically onto the main board.
  • Page 46 8 Adjustment of Internal Settings Figure 6: E-625.SR with E-801.10: Positions of the components and adjustment elements Figure 7: E-625.SR with E801B1007 or E801B1008: position of the components and adjustment elements 2.0.0 PZ167E E-625 Piezo Servo Controller...

  • Page 47: Jumper

    The servo mode can be controlled with switch 3 on the Settings DIP switch block and (only for E-625.CR) over the E-816 computer interface submodule. The slew rate limiter for the piezo voltage and the notch filter remain active even when servo mode is switched off.

  • Page 48: Solder Bridges

    E-802 servo controller submodule user manual. 8.3.4 Potentiometers Potentiometers to adapt settings are located in the following places (p. 39): R2 for sensor gain: E-801 sensor submodule (refer to the user manual for the E-801  sensor submodule) 2.0.0 PZ167E E-625 Piezo Servo Controller...

  • Page 49: E-801 Sensor Submodule

    The optimal P-I controller settings depends on your application and your requirements.  If the load to be moved has changed or PI had no information on your system when shipped, do the following steps immediately in sequence: 1.

  • Page 50: Adjusting The Notch Filter

     You have the user manual of the E-802 servo controller submodule within reach.  The E-625 has been disconnected from the power source, i.e., the wide input range power supply is not connected to the power socket using the power cord.
  • Page 51 4. Connect the power cord on the wide input range power supply to the power socket. The E-625 is ready for operation when the green Power LED comes on. 5. If you do not know the resonant frequency for the positioner, determine it as follows: a) Set the notch filter frequency range as high as possible using the DIP switch block on the E-802.55 servo controller submodule (all DIP switches to OFF).

  • Page 52: Setting The P-I Controller In Analog Mode

     You have correctly adjusted the notch filter (p. 43).  You have not changed anything on the system setup that was used for the adjustment of the notch filter.  All devices are still ready for operation. 2.0.0 PZ167E E-625 Piezo Servo Controller...
  • Page 53 (minimal overshot, settling time not too long). 5. Disconnect the E-625 from the power source by removing the power cord of the wide input range power supply from the power socket.

  • Page 54: Calibrating The Displacement Of The Positioner

    A recalibration of the displacement is only necessary when the positioner (or parts of it) or the E-625 of a calibrated system was replaced. A calibrated, external measuring device is used to recalibrate the position sensor back to the accuracy specified in the original measurement protocol.
  • Page 55  If necessary, adjust the solder bridges on the E-801 sensor submodule to the SG bridge circuit used. INFORMATION All positioners ordered together with a E-625 are delivered with measurement protocols as evidence of the system performance. INFORMATION The calibration of the displacement of the positioner applies only to the control mode (analog or computer-controlled mode) in which the settings were made.

  • Page 56: Adjusting The Sensor Range

     You have installed the positioner in the same way as it will also be used in your application (corresponding load and orientation).  The E-625 is switched off, i.e., the wide input range power supply is not connected to the power socket using the power cord.
  • Page 57  If so: For the highest positioning accuracy in closed-loop operation, adjust (p. 53) the static gain factor.  If not: Disconnect the E-625 from the power source by removing the power cord of the wide-range-input power supply from the power socket and close the E-625.
  • Page 58 4. Connect the power cord on the wide-range-input power supply to the power socket. The E-625 is ready for operation when the green Power LED comes on. 5. Establish communication between the PC and the E-625 e.g. with PIMikroMove.

  • Page 59: Adjusting The Static Sensor Gain For Closed-Loop Operation

     If so: For the highest positioning accuracy in closed-loop operation, adjust (p. 53) the static static gain factor.  If not: Disconnect the E-625 from the power source by removing the power cord of the wide-range-input power supply from the power socket and close the E-625.
  • Page 60 Is your E-625 equipped with the E801B1007 or E801B1008 model of the E-801?  If not: Disconnect the E-625 from the power source by removing the power cord of the wide input range power supply from the power socket and close the E-625.

  • Page 61: Adjusting The Sensor Linearization

    Is your E-625 equipped with the E801B1007 or E801B1008 model of the E-801?  If not: Disconnect the E-625 from the power source by removing the power cord of the wide input range power supply from the power socket and close the E-625.
  • Page 62 3. After setting the optimal linearity, repeat the adjustment of the static sensor gain for the closed-loop operation (p. 53). 4. Disconnect the E-625 from the power source by removing the power cord of the wide input range power supply from the power socket.

  • Page 63: Digital Corrections (Only E-625.Sr)

    8 Adjustment of Internal Settings 8.5.4 Digital Corrections (only E-625.SR) In addition to the adjustments described in this user manual, the E-816 computer interface submodule can be used to digitally correct the following values: Value Unit Function Sensor coefficient Ks μm/V When the sensor signal changes by 1 V, the position changes by Κs μm.

  • Page 65: Maintenance

    The E-625 contains electrostatic-sensitive devices that can be damaged by short-circuiting or flashovers when cleaning fluids penetrate the housing.  Before cleaning, disconnect the E-625 from the power source by removing the mains plug.  Prevent cleaning fluid from penetrating the housing.

  • Page 67: Troubleshooting

     If applicable, replace the defective positioner with a positioner cable is new positioner of the same type and test the new combination. Because the positioner and the E-625 defective must always be calibrated with each other, the system will probably be less exact with the new positioner than with the original positioner.
  • Page 68 When using the USB interface: Once the E-625 has been switched on, a message will appear that new hardware has been detected.  Install the USB driver from the PI software CD. The installation files for the USB drivers can be found in the \SingleSetups folder on the CD.
  • Page 69 (e.g., PITerminal) and entering *IDN?.  Make sure that you end the commands with an LF (line feed). A command is only executed when LF has been received.  Switch on the E-625 at least one hour before starting Unsatisfactory The sensor ...
  • Page 70 PI drivers  Read the information in the corresponding software manual and compare the sample code on the PI software CD with your program code. If the problem that occurred with your system is not listed in the table above or cannot be solved as described, contact our customer service department (p.

  • Page 71: Customer Service

    11 Customer Service Customer Service For inquiries and orders, contact your PI sales engineer or send us an email (mailto:service@pi.de).  If you have any questions concerning your system, provide the following information: − Product and serial numbers of all products in the system −...

  • Page 73: Technical Data

    -30 to +130 V Peak current, < 50 ms 120 mA Average output current 60 mA Current limitation Short-circuit proof Noise, 0 to 100 kHz 0.8 mV Voltage gain 10 ±0.1 Input impedance 100 kΩ E-625 Piezo Servo Controller PZ167E 2.0.0...

  • Page 74: Maximum Ratings

    12 to 30 V DC, stabilized (included in the scope of delivery: Operating voltage external power adapter) Current consumption * E-625.S0 without digital interface 12.1.2 Maximum Ratings The E-625 is designed for the following operating data: Input on: Maximum Operating Operating Frequency Maximum Current Voltage Consumption...

  • Page 75: Ambient Conditions And Classifications

    12 Technical Data 12.1.3 Ambient Conditions and Classifications The following ambient conditions and classifications for the E-625 must be observed: Area of application For indoor use only Maximum altitude 2000 m Air pressure 1100 hPa to 0.1 hPa Relative humidity Highest relative humidity 80 % for temperatures up to 31 °C...

  • Page 76: Operating Limits

    12 Technical Data 12.2 Operating Limits The following diagram shows the operating limits in open-loop operation for various piezo loads. The curve values are capacitance values in μF. Figure 12: Operating limits 2.0.0 PZ167E E-625 Piezo Servo Controller...

  • Page 77: Dimensions

    12 Technical Data 12.3 Dimensions Figure 13: E-625 dimensions in mm E-625 Piezo Servo Controller PZ167E 2.0.0...

  • Page 78: Block Diagrams

    "S1 sw.4", "S1 sw. 1", "S1 sw. 2" and "S1 sw. 3" refer to the switches 4, 1, 2 and 3 on the Settings DIP switch block on the E-625 front panel. The pin numbers 2a to 32c refer to an internal 32 pin connection and are only provided for informational purposes.

  • Page 79: E-625.S0 Block Diagram

    "S1 sw.4", "S1 sw. 1", "S1 sw. 2" and "S1 sw. 3" refer to the switches 4, 1, 2 and 3 on the Settings DIP switch block on the E-625 front panel. The pin numbers 2a to 32c refer to an internal 32 pin connection and are only provided for informational purposes.

  • Page 80: Sensor Socket

    LEMO socket EPL.0S.304.HLN, 4-pole, for transmission of the sensor signal from the positioner. The pin assignment depends on the sensor wiring in the positioner: Figure 16: Wiring of the strain gauge sensors for different positioners 2.0.0 PZ167E E-625 Piezo Servo Controller...

  • Page 81: Network

    ** The JP4 jumper must be closed for the on-target signal to be output (p. 41). The E-625.CN network cable is available for the operation of several E-625 in a network, for details see the pin assignment of the cable (p. 75).

  • Page 82: Power Supply Connector

    12 Technical Data 12.5.5 Power Supply Connector Switchcraft panel plug, 3-pole, male Function 12 to 30 VDC (15 V recommended), stabilized Not connected 2.0.0 PZ167E E-625 Piezo Servo Controller...

  • Page 83: Old Equipment Disposal

    Dispose of your old equipment according to international, national, and local rules and regulations. In order to fulfil its responsibility as the product manufacturer, Physik Instrumente (PI) GmbH & Co. KG undertakes environmentally correct disposal of all old PI equipment made available on the market after 13 August 2005 without charge.

  • Page 85: Appendix

    Relative humidity  The following diagrams show how the individual factors influence the lifetime of the actuator. Figure 18: Dependency of the mean time between failure (MTTF) of a PICMA® actuator on the applied voltage E-625 Piezo Servo Controller PZ167E 2.0.0...
  • Page 86 Dependency of the mean time between failure (MTTF) of a PICMA® actuator on the ambient temperature Figure 20: Dependency of the mean time between failure (MTTF) of a PICMA® actuator on the relative humidity 2.0.0 PZ167E E-625 Piezo Servo Controller...
  • Page 87 The recommended maximum range for the input voltage of the E-625 is therefore –2 to +12 V. This results in a piezo voltage range of –20 to 120 V (in open-loop operation). The input voltage range can be expanded from –3 to +13 V (the piezo voltage is then in the range of -30 to +130 V), which however reduces the lifetime of the actuator.

  • Page 89: European Declarations Of Conformity

    14 Appendix 14.2 European Declarations of Conformity For the E-625, declarations of conformity were issued according to the following European statutory requirements: Low Voltage Directive EMC Directive RoHS Directive The standards applied for certifying conformity are listed below. Safety (Low Voltage Directive): EN IEC 61010-1...

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