PZ214Equ Quick Guide E-517 Digital Piezo Controller Operation Module Release: 1.0.0 Date: 07.01.2009 This document describes the following products: ■ E-517.i3 Digital Piezo Controller Operation Module, TCP/IP, USB, RS-232, 3 Channels ■ E-517.i1 Digital Piezo Controller Operation Module, TCP/IP, USB, RS-232, 1 Channel © Physik Instrumente (PI) GmbH & Co. KG Auf der Römerstr. 1 ⋅ 76228 Karlsruhe, Germany Tel. +49 721 4846-0 ⋅ Fax: +49 721 4846-299 info@pi.ws ⋅ www.pi.
Physik Instrumente (PI) GmbH & Co. KG is the owner of the following company names and trademarks: PI®, PIC®, PICMA®, PILine®, PIFOC®, PiezoWalk®, NEXACT®, NEXLINE®, NanoCube®, NanoAutomation® The following designations are protected company names or registered trademarks of third parties: Microsoft, Windows, LabView Copyright 1999–2008 by Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs and drawings in this manual enjoy copyright protection.
About This Document Users of This Manual This Quick Guide is designed to help the reader to put the E-517 Digital Piezo Controller Operation Module into operation. Furthermore, it describes the physical specifications of the E-517. For descriptions of commands, parameters and for detailed function descriptions see the E-517 User Manual on the E-517 CD.
Contents 1 Introduction 1.1 1.2 1.3 1.4 1.5 1.6 1.7 2 3 How to Use the E-517 Documentation ................................................ 4 Prescribed Use.................................................................................... 5 Safety Precautions .............................................................................. 5 Model Survey ...................................................................................... 7 Unpacking .....................................................
3.10.1 Software Updates ............................................................................... 42 3.10.2 Firmware Updates .............................................................................. 42 4 Communication 4.1 4.2 4.3 Interfaces Available ........................................................................... 45 Default and Current Settings ............................................................. 46 TCP/IP Connection.........................................................
Introduction 1 Introduction ■ Low-Noise 24-bit D/A Converter ■ Sample Rate 25 kHz ■ TCP/IP, USB, IEEE 488 and RS-232 Interfaces ■ 6-Digit Display for Voltage and Position ■ 1- & 3-Channel Versions ■ Wave Generator with Programmable Trigger-I/O ■ Module for E-500 Piezo Controller Rack The E -517 is a microprocessor controlled interface and display module for the E-500 piezo controller system.
Introduction 1.1 How to Use the E-517 Documentation This Quick Guide enables you to put the E-517 into operation for the first time and gives you an overview over the E-517 functions. Whenever you need detailed function descriptions and examples or want to get background information, refer to the E-517 User Manual (E-517_User_PZ214Exxx.pdf) which is on the E-517 CD.
Introduction 1.2 Prescribed Use The E-517 Digital Piezo Controller Operation Module is designed for installation in E-500/E-501, E-471 and E-481 modular analog piezo control electronics. It makes possible controlling the analog piezo control electronics via PC interface (TCP/IP, USB, RS-232, IEEE 488 (GPIB)), trackball, macro programming and wave generator output. The LCD display shows the current voltage and position values.
Introduction CAUTION Your system will be fully calibrated before being shipped. If you have informed PI about your application, calibration is done with the corresponding setup, otherwise with a default setup. It is usually not necessary for you to do anything more than adjust the zero point(s) before operating the system. ! Do not interchange piezo control electronics or piezo stages of a calibrated system. Respect the assignment of piezo stages to the electronics channels.
Introduction 1.4 Model Survey The following E-517 models are available: E-517.i3 Interface / Display Module, 24 Bit D/A, TCP/IP, USB, RS-232, 3 Channels E-517.i1 Interface / Display Module, 24 Bit D/A, TCP/IP, USB, RS -232, Single Channel The E-517 comes normally installed in the chassis of the analog piezo control electronics, in the configuration ordered by the customer. The system is calibrated at the factory and ready for use.
Introduction ■ MDR connector for Digital In/Out socket, consisting of: 4347 MDR connector, 14-pol, RM 1.27 4348 MDR cover 14-pol ■ E-517.CD Distribution CD, containing E-517 host software (see "Software Description" (p. 9)) and manuals as PDF files ■ E-517 Quick Guide in printed form (PZ214Equ, this document) Note that the E-517 User Manual (E-517_User_PZ214Exxx.pdf) containing the complete documentation is provided as PDF file on the E-517 CD. Inspect the contents for signs of damage.
Introduction 1.7 Software Description Operating system details: ■ "Windows" stands for 2000, XP and Vista ■ "Linux" stands for kernel 2.6, GTK 2.0, glibc 2.4 The table below lists the software tools which are on the E-517 product CD with application recommendations. For more information see the corresponding software manuals. www.pi.
Introduction Software Tool Supported Operating System Short Description Recommended for PIMikroMove™ Windows PIMikroMove™ permits you to start your motion system—host PC, controller and stage(s)—immediately without the need to write customized software. It offers motion-control displays and features that in many cases make it unnecessary to deal with ASCII-format commands. It also has a complete command input facility, which represents an easy way to experiment with various commands.
First Steps 2 First Steps 2.1 Installing the Software on the Host PC Windows operating systems: 1 Insert the E-517 CD in your host PC. 2 If the Setup Wizard does not open automatically, start it from the root directory of the CD with the 3 icon. Follow the on-screen instructions and select the “typical” installation. Typical components are LabView drivers, GCS DLL, PIMikroMove(TM). Linux operating systems: 4 Insert the E-517 CD in the host PC.
First Steps program. Proceed as follows to create a parameter file: 1 Power on the system. Find details in a dedicated section (p. 31). 2 Start PIMikroMove™ on the host PC and establish a connection to the E-517 as described in "Quick Start" (p. 13). 3 In the PIMikroMove™ main window, open the Device Parameter Configuration window using the E-517 ⇒ Parameter Configuration menu sequence. 4 In the Device Parameter Configuration window, save the controller parameters to a file.
First Steps to copy the values of protected parameters from the Edit Mask column to the controller, enter the password "advanced" to switch to command level 1. See the PIMikroMove™ Manual for further information. 2.3 Quick Start The following instructions illustrate the first steps with the E-517 using PIMikroMove™ because that software offers a convenient user interface for operating the system.
First Steps 3 Start PIMikroMove™ on the host PC. It opens with the Start up controller window. 4 Establish a connection to the E-517 from PIMikroMove™. This can be done via the TCP/IP, FTDI USB, RS-232 or IEEE 488 (GPIB) interface, using the corresponding tab card in the Start up controller window (tab card selection depends on the current hardware connection). See "Communication" (p. 45) for details.
First Steps 5 Give the E-517 interface / display module control over the output voltage channels of the piezo control electronics by switching them to ONLINE mode. This can be done in the Start up controller window which should open automatically with the Start up E-517 step, see figure below. A channel is in ONLINE mode when its check box is checked, otherwise it is in OFFLINE mode. When the mode selection is finished, press the OK button. The PIMikroMove™ main window will open.
First Steps Find details in "Modes of Operation" (p. 23). 6 Optionally: Configure the PIMikroMove™ main window: It is recommended to see the tab cards for axes, sensor and piezo channels (see figure below). You can arrange them by dragging them with the left mouse button pressed so that they become docked e.g. to the bottom border of the window. On the Axes tab card, you can start axis motion (see step 7 below).
First Steps 7 Make some test moves with the individual axes using the controls on the Axes tab card: The first moves should be made in open-loop operation (Servo boxes must be unchecked). With the E-517, open-loop commanding means to give the desired output voltage values for the axes. Command an output voltage of 0 V by entering 0 in the Openloop Value field of an axis and pressing Enter on your keyboard. Then enter a new value of about 10% of the axis voltage range and press Enter.
First Steps figure below). In closed-loop operation, target positions for the axes are commanded. Enter the target position in the Target field and press Enter on your keyboard, or use the arrow buttons to decrement / increment the target position by the Step size value. The axis position (Position field) should correspond to the commanded value. www.pi.ws E-517 PZ214Equ Release 1.0.
Operation 3 Operation NOTES All commands mentioned in the subsections below are PI General Command Set (GCS) commands in the E-517 syntax, provided by the E-517 firmware. This Quick Guide contains a list of the available commands in "E-517 GCS Commands, Alphabetically Survey" (p. 58). Detailed command descriptions are provided by the E-517 User Manual which is on the E-517 CD. In a terminal, you get a list of available commands and their syntax by typing HLP?.
Operation 3.1 Front Panel Elements 3.1.1 Front Panel Overview Figure 1: E-517.i3 interface / display module, 3 channels. Single-channel E-517.i1 models have identical front panels but show only one channel in the display. Name Function LCD display. See "Display Screens" (p. 21) for details. Digital In/Out MDR14 socket for digital input and output lines; can be used to trigger external devices and to send start and synch. signals to the wave generator(s). See "Digital In/Out Socket" (p.
Operation 3.1.2 Display Screens The individual display screens can be accessed by the trackball (p. 22) on the E-517 front panel. You can check the different screens by powering up the piezo control electronics with no actuator/stage and no host PC connected. The following screens are available via the trackball: www.pi.
Operation ■ CHANNEL SETTING, where you can command motion (in ONLINE mode) or the check current position and voltage (in OFFLINE mode) for individual channels. See "Trackball Functions" (p. 22) for details You can configure the position and voltage display via parameters (e.g. show / hide channels, set the number of digits). See "Activate/Deactivate Axes and Channels" in the E-517 User Manual for more information. 3.1.
Operation In OFFLINE mode, you can check the current voltage and position values on the channel-specific screens. 3.2 Modes of Operation Control mode: The piezo channels (amplifiers) of the control electronics can be operated in either ONLINE or OFFLINE control mode. The active mode determines the applicable control sources for the output voltage. See "Control Modes" (p. 23) and see "Display Screens" (p. 21) for more information.
Operation See "Control Value Generation" in the E-517 User Manual for details.
Operation operation omits the servo loop, and the control input directly controls the output voltage of the piezo channel. The slew rate can be influenced by the E-517 (parameter ID 0x07000200).
Operation On power-on or reboot (with the RBT command), the E-517 copies information from non-volatile memory to volatile memory. The control mode is reset to OFFLINE and the servo mode to open-loop operation. You can define a start-up macro which runs on power-on or reboot, see "Working with Controller Macros" (p. 37) for more information.
Operation While move commands and trackball settings can be used in parallel to command axis motion, they are not accepted when the wave generator is running for the axis. The macro feature allows defining command sequences and storing them permanently in non-volatile memory in the controller. Macros can run in OFFLINE and ONLINE mode, but move commands from macros are only accepted in ONLINE mode and only when the wave generator is not running. See "Working with Controller Macros" (p.
Operation Hardware: A piezo stage and an E-500 chassis with one E-505 amplifier module and E-517 (single-channel system). Command String to Send Response Switch piezo channel 1 (identifiers 1) to ONLINE mode so that axis motion can be caused by move commands (received via interface or from a running macro), wave generator output and trackball settings ONL 1 1 SVO? A Check current servo mode for axis A. The axis is in open-loop operation (response = 0), i.e.
Operation Command String to Send Response Action Performed SVA? A A=+0085.0000 Query the commanded output voltage. It resulted from the last valid SVA command. ERR? 302 (error 302 "Voltage out of limits") Get error code of the last occurred error. The error code is cleared by the ERR? command ERR? 0 - (error 0 - "No error") No error occurred since the last ERR? query VMA A 100 Set voltage output high limit for the axis to 100 volts. SVA A 100 Set the output voltage for axis A to 100 volts.
Operation Command String to Send Response Action Performed ONL 1 1 2 1 3 1 Switch all piezo channels (identifiers 1, 2, 3) to ONLINE mode so that axis motion can be caused by move commands (received via interface or from a running macro), wave generator output and trackball settings SVO A 1 B 1 C 1 Set servo-control on (closed-loop operation) for all axes; this also writes the current axis position to the target register, to avoid jumps of the mechanics.
Operation 3.5 Data Recording 3.5.1 How to Use the Data Recorder The E-517 includes a real-time data recorder. It is able to record several input and output signals (e.g. current position, control voltage) from different data sources (e.g. axes or output channels). The gathered data is stored (temporarily) in "data recorder tables"—each table contains the signal from one data source. You can configure the data recorder flexibly, e.g. select the type of data and the data source.
Operation The data recorder sampling period can be read with the RTR? command. The answer gives the value of the Data Recorder Table Rate parameter (ID 0x16000000) whose default value is one servo cycle. You can cover longer periods by increasing this value. Use the RTR command or change the parameter value directly.
Operation Send: SPA 1 0x05000000 0 to deactivate the digital filter. Close the Command Entry window. 4 Open the Data Recorder window via the E-517 ⇒ Show/Hide data recorder ... menu entry. 5 Configure recording: Press the Configure... button in the down right corner of the Data Recorder window. In the Configure Data Recorder dialog which opens, check the box in the Read column and select "Current position of axis" in the Option column for the axis to be measured.
Operation 8 To analyze the recorded data and display it as a Bode frequency response diagram, click on the FFT button in the icon bar above the graphics display. 9 Optionally, you can configure the display properties and activate cursors using the buttons in the icon bar above the graphics display (see the PIMikroMove™ manual for details). This helps to identify the resonance peak on the Bode plot.
Operation 3.6 Using Trigger Input and Output It is possible to trigger external devices and to send start/stop signals to the wave generators with the digital I/O lines of the E-517. See "Digital In/Out Socket" (p. 71) for the lines and pinout. With the E-517, there is a fixed one-to-one assignment of axes to digital output and input lines. This means that: ■ With E-517.
Operation 3.7 How to Work with the Wave Generator Each axis can be controlled by a "wave generator" which outputs user-specified patterns, so-called "waveforms". This feature is especially important in dynamic applications which require periodic, synchronous motion of the axes. The waveforms to be output are stored in "wave tables" in the controllers volatile memory—one waveform per wave table. Waveforms can be created based on predefined "curve" shapes.
Operation 3 Stop the wave generator output with WGO or #24 or STP.
Operation 3.8.1 Defining Macros To define a macro command sequence, first activate macro recording mode with the command MAC BEG where is a user-settable name with a maximum of 8 characters. While in macro recording mode, commands are not executed but stored in macro storage. Recording mode is exited by the MAC END command. The maximum number of macros to be stored on the E-517 is 60. A macro is immediately written to non-volatile memory.
Operation Example 2: Macro1 now is splitted in two separate macros (macro2 and macro3) because it in not necessary to initialize the E-517 every time motion is to be performed. When you start macro3 this implicates that macro2 is executed 10 times. Write macro2: MAC MOV DEL MOV DEL MAC BEG macro2 A 10 B 10 C 10 1000 A 0 B 0 C 0 1000 END Write macro3: MAC ONL SVO VCO DCO VEL MAC MAC 3.8.
Operation Macro execution can be stopped from the command line with #24. The STP command stops macro execution only when it is part of the macro. A running macro may not be deleted. You can query with #8 if a macro is currently running on the controller. 3.8.3 Start-Up Macro With MAC DEF it is possible to set the specified macro as start-up macro. This macro will be automatically executed with the next power-on or reboot of the controller.
Operation 3.9 Select Command Set Version Users who have written software for the E-516 interface / display module which is the predecessor of the E-517 can switch to the GCS syntax used with the E-516. Except for the PITerminal, the software on the E-517 CD can not be used when the E-517 is switched to the E-516 GCS syntax version.
Operation 3.10 Updates 3.10.1 Software Updates Updated releases of software and manuals are available for download at www.pi.ws. While the manuals are freely accessible, you need a password for the software download. This password is provided on the E-517 CD in the E-517 Releasenews PDF file in the \Manuals directory. To download the latest software (complete CD mirror) from the PI Website, proceed as follows: 1 On the www.pi.
Operation All firmware updates can be made by running the Firmware Update Wizard on the host computer, using the same communication interfaces as for normal operation. The Firmware Update Wizard is available on the E-517 CD and can be installed as follows: 1 Insert the E-517 CD in your host PC. 2 If the Setup Wizard does not open automatically, start it from the root directory of the CD with the 3 icon.
Operation Figure 3: Select controller to be connected to Firmware Update Wizard www.pi.ws E-517 PZ214Equ Release 1.0.
Communication 4 Communication 4.1 Interfaces Available The E-517 can be controlled from a host computer (not included) with ASCII commands sent via: ■ TCP/IP ■ RS-232 serial connection ■ USB connection (FTDI; USB 1.1, compatible with USB 2.0) ■ GPIB (IEEE 488) connection All interfaces can be active simultaneously. The commands from the interfaces are queued in the order the completed command lines are received.
Communication NOTES All commands mentioned in the subsections below are PI General Command Set (GCS) commands in the E-517 syntax, provided by the E-517 firmware. This Quick Guide contains a list of the available commands in "E-517 GCS Commands, Alphabetically Survey" (p. 58). Detailed command descriptions are provided by the E-517 User Manual which is on the E-517 CD. In a terminal, you get a list of available commands and their syntax by typing HLP?.
Communication ■ GPADR: gives the device address to be used for GPIB (IEEE 488) communication, default is 4 also accessible as GPIB Address parameter, ID 0x11000900 ■ IPADR: the first four portions specify the default IP address for TCP/IP communication, the last portion specifies the default port to be used, default is 192.168.168.
Communication 4.3 TCP/IP Connection The TCP/IP connection is available on the E-517 front panel of the controller, via the RJ 45 socket with the network icon. The access differs depending on the network availability, which can be as follows: ■ Network with DHCP server ■ PC equipped with an Ethernet connection or network without DHCP server For the default IP address, IP mask and startup behaviour settings of the TCP/IP interface see "Default and Current Settings" (p. 46).
Communication First, make sure that the proper startup behaviour is set (see Note above). Then, if a network with DHCP server is available, connect the controller to a network access point and power cycle it (newer switches accept both cross-over and straight-through network cables). The controller will automatically obtain an IP address over DHCP. In the host software (e.g.
Communication 4.3.2 PC with Ethernet Card The IP address and IP mask settings of PC and E-517 must be compatible with each other in the following cases, because otherwise no connection can be established: ■ The E-517 is directly connected to an Ethernet connection of the PC. ■ E-517 and host PC both are connected to the same network where no DHCP server is available (in this case, the settings must also be compatible with those of any other devices in the network).
Communication 3 In the Properties window of the LAN connection, click on Internet Protocol (TCP/IP). 4 In the Internet Protocol (TCP/IP) Properties window, activate Use the following IP address. Make a note of the current IP address and Subnet mask settings, if any, in case they need to be restored later.
Communication Adapt IP address and Subnet mask; do not change the Default gateway setting Press OK Figure 5: Internet Protocol (TCP/IP) Properties window, the settings shown are only examples, maybe they does not match that of your controller If you want to change the IP address and IP mask settings of the E-517: 1 Establish a serial connection between PC and E-517 as described in "RS-232 Serial Connection" (p. 53).
Communication Do not use "255", and do not change the port setting (must always be 50000). 4.4 3 Close the connection. 4 Connect the E-517 to the Ethernet card in the PC using the included, special, cross-over cable ("point-to-point" connection). If you connect the E-517 to a free access point (e.g. to a hub) on a network to which the PC is connected, use the straight-through network cable. 5 Power-cycle the E-517.
Communication Figure 6: RS-232 configuration of the host PC side in PIMikroMove™ If you have established a connection and want to change the currently active baud rate, proceed as follows: 1 Use the IFC command in the command entry facility of the program, e.g. by sending IFC RSBAUD 57600. 2 Close the connection. 3 Open the connection again with the baud rate you just set with IFC (in the example 57600).
Communication 4.5 USB Connection The USB interface is available on the front panel of the E-517 via the type B USB socket. Use the included USB cable (USB-A/USB-B) to connect the E-517 to the host PC. The first time you connect over the USB interface, be sure you are logged on the PC as a user having administrator rights. After the E-517 is powered on, a message will appear saying that new hardware has been detected. Follow the on-screen instructions and insert the E-517 CD.
Communication 4.6 GPIB (IEEE 488) Parallel Connection The parallel communications bus is accessed via the "GPIB/IEEE488" connector on the front panel of the E-517. Use a suitable cable to connect the E-517 to the host PC. The host PC must be equipped with GPIB hardware, and the corresponding driver must be installed (GPIB driver from National Instruments (NI) or NI-compatible driver). The GPIB device address of the E-517 is preset to 4.
Communication If you have established a connection and want to change the currently active address of the E-517, proceed as follows: 1 Use the IFC command in the command entry facility of the program, e.g. by sending IFC GPADR 7. 2 Close the connection. 3 Open the connection again with the address you just set with IFC (in the example 7). The currently active address can also be checked/set on the E-517 front panel in the COMMUNICATION display screen (p. 21).
E-517 GCS Commands, Alphabetical Survey 5 E-517 GCS Commands, Alphabetical Survey www.pi.
E-517 GCS Commands, Alphabetical Survey www.pi.
E-517 GCS Commands, Alphabetical Survey www.pi.
E-517 GCS Commands, Alphabetical Survey www.pi.
E-517 GCS Commands, Alphabetical Survey WGC Set Number Of Wave Generator Cycles WGC? Get Number Of Wave Generator Cycles WGO Set Wave Generator Start/Stop Mode WGO? Get Wave Generator Start/Stop Mode WGR Starts Recording In Sync With Wave Generator WMS? Get Maximum Number Of Wave Table Points WOS Set Wave Generator Output Offset WOS? Get Wave Generator Output Offset WPA Save Parameters To Nonvolatile Memory WTR Set Wave Generator Table Rate WTR? Get Wave Generator Table Rate Detailed
TTroubleshooting 6 Troubleshooting Communication with controller does not work Communication cable is wrong or defective ⇒ Check cable. Does it work properly with another device? For RS-232, a null-modem cable must be used. For TCP/IP connections: Connect the controller to an Ethernet connector in the PC using the included cross-over network cable. When connecting to a network hub or router, it might be necessary to use a straight-through network cable.
TTroubleshooting ⇒ The first time you connect over the USB interface, be sure you are logged on the PC as a user having administrator rights. After the E-517 is powered on, a message will appear on the PC screen saying that new hardware has been detected. Follow the on-screen instructions and insert the E-517 CD. The required FTDI hardware drivers are found in the \USB_Serial_Driver directory.
TTroubleshooting be identical or the parameters of the GEMAC interpolation circuit must be adapted, see "GEMAC Parameter Adjustment" for more information. Wrong command or wrong syntax ⇒ Check the error code with the ERR? command. "Error Codes" in the E-517 User Manual gives the complete error reference.
TTroubleshooting Incorrect control mode of the piezo channel ⇒ Check the current control mode using the ONL? command or on the main screen of the E-517 display. The current control mode of a piezo channel determines the applicable control sources for the output voltage and hence for the axis motion. See "Control Modes" (p. 23) for details. Incorrect configuration ⇒ Check the parameter settings on the E-517 with the SPA? and SEP? commands.
TTroubleshooting When using the wave generator, it is recommended to reduce the frequency and/or the amplitude and/or the output duration to avoid overheating. See "Wave Generator" in the E-517 User Manual for more information. Unsatisfactory system performance The sensor values are not reliable, and the whole system is instable. ⇒ Only thermally stable systems can have the best performance. For a thermally stable system, power on the E-517 at least one hour before you start working with it.
Customer Service 7 Customer Service Call your PI representative or write to info@pi.ws; please have the following information about your system ready: www.pi.ws ■ Product codes and serial numbers of all products in the system ■ Current firmware version of the controller (if present) ■ Version of drivers and / or host software (if present) ■ Operating system on host PC (if present) E-517 PZ214Equ Release 1.0.
Old Equipment Disposal 8 Old Equipment Disposal In accordance with EU directive 2002 / 96 / EC (WEEE), as of 13 August 2005, electrical and electronic equipment may not be disposed of in the member states of the EU mixed with other wastes. To meet the manufacturer’s product responsibility with regard to this product, Physik Instrumente (PI) GmbH & Co. KG will ensure environmentally correct disposal of old PI equipment that was first put into circulation after 13 August 2005, free of charge.
Technical Data 9 Technical Data 9.1 Specifications E-517.i1 E-517.i3 Function Digital operation module Digital operation module Channels 1 3 Processor DSP 60 MHz DSP 60 MHz Sampling rate, sensor 25 kHz, 8-times oversampling 25 kHz, 8-times oversampling Thermal drift Stability: 0.2 mV Stability: 0.2 mV Linearity @ nominal range 0.01% 0.
Technical Data 9.2 Pin Assignments 9.2.1 Digital In/Out Socket Connector type: MDR14 Pin 1 2 3 Signal GND nc output 4 output 5 output 6 7 8 9 10 11 nc nc reserved reserved nc input 12 input 13 input 14 reserved Function GND not connected DIO_O3 (TTL, this digital output line can be configured with the CTO, TWS and WGO commands for triggering tasks, identifier is 3); with E-517.
Technical Data 9.2.
