A-MCA Product User`s Manual Firmware 5.00 and up Last Update
Contents
1. t niversal Serial Bus controllers In this example there is one serial port installed COM1 which is a USB adaptor Linux 1 Finding devices Open a terminal and execute the following command dmesg grep E ttyU S The response will be similar to the following 2 029214 serial8250 ttySO at I O 0x3f8 irq 4 is a 16550A 2 432572 00 07 ttySO at I O 0x3f8 irq 4 is a 16550A 2 468149 0000 00 03 3 ttyS4 at I O 0xec98 irq 17 is a 16550A 13 514432 usb 7 2 FTDI USB Serial Device converter now attached to ttyUSBO This shows that there are 3 serial ports available ttySO ttyS4 and ttyUSBO a USB adaptor 2 Checking port permissions Appendix A Available Communications Ports 26 Using the ports found above execute the following command ls 1 dev tty S0 S4 USBO The permissions given below show that a user has to be root or a member of the dialout group to be able to access these devices crw rw 1 root dialout 4 64 Oct 31 06 44 dev ttySO0 crw rw 1 root dialout 4 68 Oct 31 06 45 dev ttyS4 crw rw 1 root dialout 188 0 Oct 31 07 58 dev ttyUSBO 3 Checking group membership groups The output will be similar to the following adm cdrom sudo dip plugdev users lpadmin sambashare Notice that dialout is not in the list A user can be added to the dialout group with the following command sudo adduser USER dialout Group me2. 40 Mode Setting Mode Set Target Speed 42 Speed Setting Speed Set Acceleration 43 Acceleration Setting Acceleration Set Maximum Position 44 Range Setting Range Set Current Position 45 New Position Setting New Position Set Home Offset 47 Offset Setting Offset Set Alias Number 48 Alias Number Setting Alias Number Return Device Id 50 Ignored Read Only Device Id Setting Return Firmware Version 51 Ignored Read Only Version Setting Return Power Supply Voltage 52 Ignored Read Only Voltage Setting Return Setting 53 Setting Number Command Setting Value Return Status 54 Ignored Read Only Status Setting Echo Data 55 Data Command Data Set Peripheral Id 66 Peripheral Id Setting Peripheral Id Return Current Position 60 Ignored Read Only Position Setting Binary Protocol 17 Set Park State 65 Park State Setting Position Set Auto Reply Disabled 101 Auto Reply Mode Setting Auto Reply Mode Mode Set Message Id Mode 102 Message Id Mode Setting Message Id Mode Set Home Status 103 Home Status Setting Home Status Set Home Sensor Type 104 Home Sensor Type Setting Home Sensor Type Set Auto Home Disabled 105 Auto Home Disabled Setting Auto Home Disabled Mode Mode Mode Set Minimum Position 106 Minimum Position Setting Minimum Position Set Knob Disabled Mode 107 Knob Disabled Mode Setting Knob Disabled Mode Set Knob Direction 108 Direction Se
3. 010 stop stop all devices 010 1 stop stop device number 1 0l o AXL 2 stop Stop device number 1 axis number 2 01 0 01 0 Type help commands for a list of all top level commands 01 0 Type help reply for a quick reference on reply messages 01 0 Visit www zaber com support for complete instruction manuals Initialization 10 To access help for a specific command for example the move command send 1 help move G01 01 01 01 01 01 0 OoOooo0c OK IDLE move move move move move abs rel vel min max Built In Help 0 x x x Move Move Move Move Move to by at to to absolute position relative position constant velocity minimum position maximum position 11 Manual Control The A Series range of motion control products are integrated with a depressible knob with 20 detents per revolution allowing devices to be controlled without the use of a computer There are two manual movement modes available Velocity and Displacement switch between these modes by holding down the knob for 1 second or via configuring the knob mode T 109 setting Upon power up the device will only travel towards the motor from its start up position until the home position is reached Once the device has been manually homed the full range of travel becomes available Velocity Mode Turn the knob clockwise to move the device in the positive direction extend or counter clockwise for neg
4. a manual factory reset can be performed as a last resort through the following steps 1 Power Off the device 2 Push and hold the knob for the first Axis if applicable 3 Power On the device 4 Continue to hold the knob in until the Blue LED is lit 5 seconds release the knob The device has been returned to its factory defaults and can be configured per the steps in Initial Setup Front Panel Indicators Green LED On The device is powered on and operating normally Green LED Fades In and Out The device is parked Issue a tools parking unpark T 65 command or home T 1 the device Green LED Flashes Slowly The operating conditions of the device are outside of the recommended range This will occur when the supply voltage is either over or under the recommended range the internal temperature has exceeded the set limit or the driver has disabled Check the following 9 The input voltage within the operational range of the device This can be read from the device with the get system voltage command The device temperature is within range This can be read from the device with the get system temperature command The driver is not disabled If the driver is disabled the result of the warnings command will contain the FD flag Green LED Off The device is not powered Check the supply connections and power adaptor for correct operation Red LED On or Flashing A critical error has occurred Please contact Zaber Technical Sup
5. command number or reply number Follow the links to view a detailed description of each instruction or refer to the Binary Protocol Manual Instruction Name Command Command Data ice Reply Data Reset 0 Ignored Command None Home 1 Ignored Command Final position in this case 0 Renumber 2 Ignored Command Device Id Quick Device Settings 16 Read Register 5 Register Address Command Data Set Active Register 6 Register Address Setting Register Address Write Register 7 Data Command Data Move Tracking 8 n a Reply Tracking Position Limit Active 9 n a Reply Final Position Manual Move Tracking 10 n a Reply Tracking Position Manual Move 11 n a Reply Final Position Slip Tracking 12 n a Reply Tracking Position Unexpected Position 13 n a Reply Final Position Store Current Position 16 Address Command Address Return Stored Position 17 Address Command Stored Position Move To Stored Position 18 Address Command Final Position Move Absolute 20 Absolute Position Command Final Position Move Relative 21 Relative Position Command Final Position Move At Constant Speed 22 Speed Command Speed Stop 23 Ignored Command Final Position Restore Settings 36 Peripheral Id Command Peripheral Id Set Microstep Resolution 37 Microsteps Setting Microsteps Set Running Current 38 Value Setting Value Set Hold Current 39 Value Setting Value Set Device Mode
6. guarantee If you are not satisfied with your purchase we will refund your payment minus any shipping charges Goods must be in brand new saleable condition with no marks Zaber products are guaranteed for one year During this period Zaber will repair any products with faults due to manufacturing defects free of charge Custom products Custom products are any part numbers containing the suffix ENG followed by a 4 digit number Each of these products has been designed for a custom application for a particular customer Custom products are guaranteed for one year unless explicitly stated otherwise During this period Zaber will repair any products with faults due to manufacturing defects free of charge How to return products Customers with devices in need of return or repair should contact Zaber to obtain an RMA form which must be filled out and sent back to us to receive an RMA number The RMA form contains instructions for packing and returning the device The specified RMA number must be included on the shipment to ensure timely processing Warranty and Repair 23 Email Updates If you would like to receive our periodic email newsletter including product updates and promotions please sign up online at www zaber com news section Newsletters typically include a promotional offer worth at least 100 Email Updates 24 Contact Information Contact Zaber Technologies Inc by any of the following methods Phone 1 604 569 3780 d
7. of the encoder inputs f The number of times an index pulse has been received from the encoder index count Axis Yes encoder encoder index phase Axis Yes The requred phase for an index pulse to be counted encoder mode Axis Yes The operating mode of the axis encoder knob dir Axis Yes Sets the movement direction for the knob Sets how far the device moves with each step of the knob in knob distance Axis Yes P displacement mode in units of microsteps knob enable Axis Yes Disable the use of the knob when set to 0 Quick Commands 15 ETE Axis Yes The maximum speed that can be reached using the knob in Knon maxspeec velocity mode apenas Axis Yes Sets the mode of the knob 0 for velocity mode 1 for EM displacement mode knob speedprofile Axis Yes Sets the profile to be used per increment when in velocity mode limit approach accel Axis Yes Acceleration used when approaching a limit sensor limit approach maxspeed Axis X Yes Maximum speed used when approaching a limit sensor limit detect decelon Axis Yes Deceleration used when stopping after a limit sensor has pun derect dece on y triggered limit detect maxspeed Axis Yes Maximum speed used when moving away from a limit sensor limit home action Axis Yes Automatic limit switch action limit home edge Axis Yes Sensor edge to align action to limit home posupdate Axis
8. slipping This condition happens if the thrust needed is more than the thrust available from the device Check the following The force on the device is less than the maximum thrust 0 The voltage using the get system voltage command Voltage less than the specified voltage for the device will reduce the device s maximum thrust Test the following Try a slower target velocity Stepper motors produce more thrust when moving slowly Try a lower acceleration and deceleration 9 Clean the screw and lightly re grease it with a grease that does not degrade plastics The device has repeatability errors smaller than 4 full steps If steps aren t being skipped friction or loose parts may still cause some variation when returning to a position Please contact Zaber Technical Support The device doesn t cover the full range of travel or runs into the end A setting might have been inadvertently changed 9 home T 1 the device to see if this corrects the behaviour 0 Send a system restore T 36 command Ensure that the periid setting of the devices corresponds to the attached device A list of peripheral ids are available at Peripheral Id Communication Errors There is no communication with the device the Yellow LED does not come on or flash There are several things should be checked Manual Control 20 Make sure the correct serial port is selected Try selecting other serial ports in the software 9 Check the baud rate hand sh
9. A MCA Product User s Manual Firmware 5 00 and up Last Update December 31 2013 Visit www zaber com wiki for more recent updates Zaber Technologies Inc 1st Floor 1777 West 75th Ave Vancouver British Columbia Canada V6P 6P2 Table of Contents UEM ETT ERREUR ETIN ERU CIE UP EN 1 Conventions used throughout this documenht eee ee eee ee eee esee ee eee eene seen sees en eee en sette se ee sten a seen aee 2 LIE LE ETERNI I I NE 3 Device Overview AAAA AE A AE ose saeua eeepc sea oe asd ncuke sleeve eene pae deen sesesoneseccdpesavocesoessadeccusceeses Uva Us kl ee T eU UOS 4 CC ODTIeCLIOTS cor edad sorbet ect tee eee btt ete EE N NE ope Tse ted het ceti eene dicemus d 4 ludus c 4 RS232 Communications secet E dee rettet Phe e e ro eee Ere epe eR PERPE ed bee eee ERR ee Derek 4 Motor Interf ce 2 5 B iet iore bre ote boeeee et lode eo trea tee b oerte eire ve Eoo reto bee beoe bec eese Da 4 IndiCatoEs 5 See Ic coss rq uo Eee E ottime da Ek A Rec edd 5 NAT ELNO i PERR EA TE E EEE A A E IEEE 7 Daisy Chainine Devices rane ROTE 7 Gro ndi g es cata 8 Quick T torlal ete eeet eere eetes avete s eee e aee etel ee Pues ene Teese se eue bdo se haoa Ea eA aE aa aa a aiaa aniani asni 9 Tinta Setup REOR 9 LETTERE EAE TRIS LEER RET RT OR EAT BO 9 Usingithe Device i e n e et eri UR TOS EGRE EGER TE VR EE HE NT en pata 10 Modifying Device Settings mee H
10. B9 devices comm protocol 1 123 should be set to 1 Binary and the comm rs232 baud 1 122 set to 9600 The DSUB9 devices should be chained together closest to the computer A T DSUB connector can be used to connect the two strings of devices together e DSUBO and MiniDin 6 with firmware version at or above 6 06 ASCII Protocol Chain The Minidin6 devices comm protocol T 123 should be set to 2 ASCII and the comm rs232 baud T 122 set to 115200 The DSUB9 devices should be chained together closest to the computer A T DSUB connector can be used to connect the two strings of devices together For assistance please contact Zaber Technical Support Grounding To prevent damage to the device due to static buildup the device should be properly grounded Failure to ground the unit may result in the unit shutting down unexpectedly or ceasing to communicate with the computer This problem can be minimized by not touching the unit during operation If the unit fails due to static discharge unplugging it and plugging it back in or sending a system restore T 36 command will usually fix the problem Most Zaber devices are grounded via the shield wire of the data cables This should normally provide a path to ground via the computer For units which are being used without a computer a ground lead should be connected to the chassis pin of the power supply connector Note Encoder embedded devices are sensitive to electrically noisy env
11. D Ht need es 10 Built In Help eee etti diee el eto ERE co Neu the El eei iode dada casta 10 Mania BODIE EREE E E ERE ETERNI 12 Velay Mod rena tens ae he ne EE E E Tete eee EE E A ada E a Pedo 12 Displacement Mode hue rei eO e Ei eee E E EEEN 12 Summary of knob functionality esssssesesseeeeeeee esee enne enr nennen tenentes ente sententie nen 12 Trajectory Control and Behaviou csccssccssssssssscsssssssssssssccsssssssssscsssssssccssssssssessssssssssssssssssessssssssssscsass 13 Software Position Tits usos eere te eoo ete ette e eee T Coro eoe aee pae pop E Ce en edet ETA 13 Movement Speed te ette De rte te etse c ive rs ee ee E erede eee desto ee perte Eee ee undas 13 Quick Command Reference 2 erect reet eee notre na ete eE a nete rH nari n Fa deos Pe Fee ork Fred e epa ede en sese en esee eee Fees eu EnadenR 14 ASCIEPEOtOCOL ettet tarte e te eee t tee b depre b aere oe odere ioo de fee bel ee Da taete bata dte Pav EAEE 14 Quick Commards 75 eme DE Mn 14 Quick Device Settings nia er ERREUR Gen eu hae re EO D HERE Pe ess 15 Binary Protocol iR RR Vr HR e Wette AG ee 16 Troubleshooting A Series Closed Loop Motion Devices 4 eere eee e eere eerte eee en eee te etna sten ae eaa 19 bront Panel IndiCators Lebe teet terere ecce eese E SEERE cde e TE 19 Manual Control nnn 2 e SEE RE eae bn ees pe Gin destine sec Der deed eden 20 Unexpected BehavIOUE eI otim e Ge eget
12. Daisy Chaining Devices below 4 Install software from http www zaber com wiki Software For the initial setup it is recommended that Zaber Console is used As a simple first test try entering these instructions renumber T 2 lhome D 1 move rel 10000 1 21 10000 The parameter of 10000 in the move command above specifies 10000 microsteps To see the microstep size default resolution for the peripheral and how it translates to displacement first go to the product overview page find your device click through to the device s webpage and click on the Series Specs tab The microstep size default resolution will be shown in the list of product specs either in the Group Specifications section or the Comparison section Daisy Chaining Devices Multiple devices can be connected together in a chain through the Next and Prev connectors This allows any number of devices to be controlled from a single connection to a computer reducing cabling demands A power supply needs to be connected to each device in the chain Whenever a device is added or removed from a chain a renumber 1 2 command should be sent to prevent device address conflicts Installation 7 Zaber recommends having two separate chains when the connector types differ To daisy chain devices with different connectors the following steps should be followed e DSUBO9 and MiniDin 6 with firmware version at or below 6 05 Binary Protocol Chain The DSU
13. ORE esi Leer ge a teria eee i tor a tosaetd 20 Communication ETEOES 4o e Ee n e S ieetet diete oes sso s oes sods ee ach bd ete e ete De 20 Slipping and Stalling 5 nie OQ abl EEG OT MO UI eae CRM CARS MUR VERE MISES 22 Table of Contents Warranty BH 23 Standard Products sis ere REPRE Habeas Rr D EYE ee D CARE Te Re RR RE EN TRIER 23 C stom products itr rete EL Nae er ie teer octo EE E e s potato 23 How to return products 5 5 3 e RH e tere ete e seed re edet dee eae EAE UE re dues 23 Email Updates e TEE ree ER te EE SuSE Eee Ee Rea ee REP pe Foe ew Re oa UE PO PESE rapa Coe Sore eiTe SY ER TV eR peto ora 24 Contact ET HELLO EET TIERE oeno rosene isoa 25 Appendix A Available Communications Ports eee e eee ee eee ee ee ee ee ette seen netta sese to setas esas eee ea sena 26 Finding Installed Serial Ports 2 2 2 rti titt Great eH Lg Re aine ceeebed iealslanaete 26 MndoWS d deuote ree E Ee e m ost ut C e redde ose Ebr donde aS CE EEN 26 Group Specifications A MCA Series eene nne enene enne tenete eene nen tenerent 28 Disclaimer Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where a product s use or failure could cause personal injury death or damage to property Zaber disclaims any and all liability for injury or other damages resulting fro
14. Yes Position update to occur when sensor is triggered limit home preset Axis Yes The default position of the home sensor limit home state Axis No The state of the home sensor limit home triggered Axis No Whether the home sensor has been triggered previously limit home type Axis Yes The type of home sensor connected nir Axis Yes The maximum position the device can move to measured in Saas microsteps tenia Axis Yes The minimum position the device can move to measured in HE microsteps maxspeed Axis Yes The maximum speed the device moves at motion accelonly Axis Yes Sets the acceleration used to increase the speed motion decelonly Axis Yes Sets the deceleration used when decreasing the speed peripheralid Axis Yes The id of the connected peripheral pos Axis Yes The current absolute position of the device resolution Axis Yes Microstep resolution system access Device Yes Sets the access level of the user system axiscount Device No The number of axes in the device system led enable Device Yes Enables the front panel LEDs system temperature Device No The current temperature of the unit in degrees Celsius system voltage Device No The voltage being applied to the device version Device No The firmware version of the device Binary Protocol The following table offers a quick command reference for A MCA running firmware version 6 xx For convenience you may sort the table below by instruction name
15. aking parity stop bit etc when configuring the serial communications software The required settings are listed in the RS232 Communications section above Make sure there are no bent pins in the ends of all the data cables o Make sure the device is powered the Green LED should be on 0 If the computer is a laptop running on batteries try plugging in the power Some laptops disable the serial ports when running on batteries 9 Make sure a null modem adaptor or cable is not being used 9 Make sure the correct adaptors if any are being used Refer to the pinouts in the RS232 Communications section above If the problem encountered when trying to control the device with custom software try using one of the demo programs from the Zaber website to verify that the hardware is functioning properly The yellow light comes on briefly when sending a command but the device does not move and does not reply Check baud rate hand shaking parity stop bit etc are set as per the RS232 Communications defaults The device numbers may not be what is expected issue a system renumber T 2 command Make sure that the computer does not transmit anything else while the devices renumber If using the binary protocol check the following 0 6 bytes are transmitted and that the device number and command are valid The software does not transmit any control characters such as line feed and spaces That the serial port is not configured
16. ative direction retract Each detent of the knob increases the speed of the carriage There are 16 speeds in each direction The velocity profile and maximum speed can be configured via the knob speedprofile T 112 and knob maxspeed T 111 settings The device stops and resets the knob upon arriving at the end of travel Displacement Mode Turn the knob clockwise to move the device in the positive direction extend counter clockwise for negative direction retract Each detent of the knob moves the device a fixed number of microsteps specified by the knob distance T 110 setting The device moves at the speed specified by the maxspeed T 42 setting or the slower of speed and lim approach maxspeed T 41 if the device has not been homed If there are fewer than knob distance T 110 microsteps to the end of travel and another move is requested the device will move to the end of travel and then stop Summary of knob functionality e Turning the knob Moves the device in the direction of knob turn Pressing the knob Decelerates and stops the device identical to a Stop command Instantly stops the device if the device is already decelerating Pressing and holding the knob for 1 sec Toggles between Velocity Mode and Displacement Mode Manual Control 12 Trajectory Control and Behaviour This section describes the behaviour of the device trajectory when a movement command is issued Software Position Limits The travel rang
17. cribed above Setting Scope Writable Description accel Axis Yes Sets the acceleration used to modify the speed f The number of counts generated by the encoder for one full cloop counts Axis Yes revolution cloop mode Axis Yes Sets the closed loop control mode The amount of time to wait after a stall displacement condition cloop stalltimeout Axis Yes no in milliseconds ORE Axis Yes The number of full steps required for the motor to complete one c ocp Steps revolution comm address Device Yes The device address comm alert Device Yes The device will send alert messages when this setting is 1 The device includes checksums in its messages if this setting is comm checksum Device Yes set to 1 comm protocol Device Yes The communications protocol used by the device comm rs232 baud Device Yes The baud rate used by RS232 communications deviceid Device No The device id for the unit Current used to hold the motor in position as a percentage of driver current hold Axis Yes P P maximum driver current run Axis Yes Current used to drive the motor as percentage of maximum driver dir Axis Yes Reverse the motor driver output direction encoder count Axis Yes The recorded counts of the axis encoder encoder dir Axis Yes Inverts the counting direction for the axis encoder encoder filter Axis Yes Enable and set up digital filtering
18. e of the device is confined by the Minimum Position and Maximum Position settings The factory settings for the devices are configured to match the physical travel range If a customized range is desired it can be changed via configuring the limit min T 106 and limit max T 44 settings to appropriate values Minimum Position When Current Position is less than the Minimum Position value the device cannot move in the negative direction towards the motor Maximum Position When Current Position is greater than the Maximum Position value the device cannot move in the positive direction away from the motor Movement Speed The movement speed of the device depends on device status and various speed settings If the device has not been initialized by the home T 1 command or by moving towards the home end of the device movement speed will be constrained to fail safe values The home status of the device can be determined by reading the limit home triggered T 53 setting the binary command additionally requires a value of 103 Movement speed of the device is specified below move vel T 22 The device will move at the specified speed regardless of home status Knob manual movement in Velocity Mode The device will move at the specified speed regardless of home status The speed is specified by the knob profile T 112 and knob maxspeed T 111 settings Other movement commands When device has not been homed The device will move at th
19. e slower of the maxspeed T 42 and lim approach maxspeed T 41 settings Other movement commands When device has been homed The device will move at the speed specified by the maxspeed T 42 setting Trajectory Control and Behaviour 13 Quick Command Reference ASCII Protocol The following table offers a quick command and setting reference for A MCA running firmware version 6 064 Follow the links to view a detailed description of each instruction or refer to the ASCII Protocol Manual Quick Commands Parameters in square brackets e g clr indicate that the parameter is optional Parameters in italics e g value indicate that data typically a number needs to be provided Parameters separated by a pipe e g abslrel indicate that one of the parameters in the set need to be provided Quick Command Reference Command Scope Parameter s Returns Description f Performs an emergency stop on estop Axis 0 the axis et Device and zs dlie Retrieves the current value of the se Axis g device or axis setting commands Displays the help information for help Device reply 0 the system command Moves the axis to the home home Axis 0 ak ER position I Device 0 Repeats the last command Moves the axis to various move Axis abslrellvel value 0 i positions along its travel Moves the axis to the limits of move Axis minlmax 0 travel a Moves
20. ice closest to the computer in the chain will become device 1 the next device 2 and so on DEVICE 1 DEVICE 2 TO DEVICE 3 4 On the new unit configure the peripheralid setting of each axis with either the ASCII set peripheralid command or the Binary T 66 command The Peripheral Id for Zaber devices can be found on it s identification label Alternatively a full list of Peripheral Ids can be found at Zaber Support Peripheral IDs This step needs to be performed whenever a motorized peripheral is changed for a different type If a 3rd party peripheral is being driven please contact Zaber Technical Support for assistance 5 Connect the motorized peripherals Initialization Every time the controller is powered up or reset the motorized peripheral s need to be returned to the home position before they can be used This is achieved by sending the home T 1 command to the individual unit or all units Attempting to move the peripheral before it has been homed will result in an error as shown below Quick Tutorial 9 01 move rel 10000 801 0 RJ IDLE WR BADDATA If the device is being used under manual control the motorized peripherals need to be driven to the minimum home position before they will operate over their full range Using the Device Several commonly used ASCII commands and their Binary equivalents are shown below For a full list of the available commands please refer to the Command Reference section belo
21. irect 1 888 276 8033 toll free in North America Fax 1 604 648 8033 Mail 1777 West 75th Ave Ist Floor Vancouver BC Canada V6P 6P2 Web www zaber com Email Please visit our website for up to date email contact information Contact Information 25 Appendix A Available Communications Ports Finding Installed Serial Ports Windows 1 Right click on Computer or My Computer and select Manage Open Explore Search Map Network Drive Disconnect Network Drive Create Shortcut Delete Rename Properties 2 Select Device Manager from the Computer Management list 3 Expand the Ports COM amp LPT category C Computer Management nj x 1m File Action View Window Help 81 x e mimm a amp mm m 18 Computer Management Local E S VM WIN NATHAN li System Tools E LJ Batteries E E Event Viewer H Computer EH Shared Folders Gee Disk drives Local Users and Groups E 3 Display adapters Performance Logs and Alert 3 DVD CD ROM drives J amp Device Manager H E Human Interface Devices eg Storage H IDE ATA ATAPI controllers e Removable Storage Keyboards Disk Defragmenter gt Mice and other pointing devices Z Disk Management H a Monitors Es Services and Applications i Network adapters 7 Printer Port LPT1 9 USB Serial Port COMI amp Sound video and game controllers iz 4 System devices Uni Serial B troll 4
22. ironments Static discharges can affect position calibration and cause unstable behaviour If the device is behaving strangely verify that the device is properly grounded reset the device either by the system reset T 0 command or by disconnecting then reconnecting power then re initialize the device with the home T 1 command Daisy Chaining Devices 8 Quick Tutorial The following tutorial uses Zaber Console to communicate with the device s Please refer to the ASCII Protocol Manual and or Binary Protocol Manual for detailed information on the available commands and how to setup and use other software Initial Setup The following steps need to be performed whenever a new unit is being installed NOTE Ensure no motors are connected to the controller before applying power for the first time Powering up the controller with a peripheral connected before it has been properly configured can result in damage to the peripheral and controller 1 Power up all integrated devices and controllers in the chain The power indicator on each should light up 2 Download and install Zaber Console from http www zaber com wiki Software Start Zaber Console and select the communications port the first controller is connected to For instructions on how to find the available communication ports on your system please refer to Appendix A Available Communications Ports 3 From the Console issue a renumber T 2 command to all devices The first dev
23. m the use of our products Disclaimer Conventions used throughout this document e Fixed width type indicates communication to and from a device The symbol indicates a carriage return which can be achieved by pressing enter when using a terminal program An ASCII command followed by T xx indicates a legacy T Series Binary Protocol command that achieves the same result Not all ASCII commands have an equivalent legacy counterpart e g move abs 10000 T 20 10000 shows that a move abs ASCII command can also be achieved with binary command number 20 e All devices support the Binary Protocol however the ASCH Protocol is only supported in devices with firmware version T 51 6 06 and above Conventions used throughout this document Precautions The A MCA series of stepper motor controllers are intended to drive a wide variety of motors It is not possible to choose factory default settings that will work with every motor that may be connected Therefore you will need to change some of the settings from the default values to match the motor you are driving For a Zaber peripheral device a complete setup can be accomplished by configuring the peripheralid T 66 setting with the peripheral s ID number See the detailed usage examples for more information on how to modify the settings particularly for non Zaber peripherals Damage to the actuator may result if the recommended settings are set improperly WARNING Serious damage can occu
24. mbership will not take effect until the next logon Windows 27 Group Specifications A MCA Series Maximum Current Draw motor dependent mA Power Supply I248 VDC Power Plug Molex Mini Fit Jr 3pin Controller Maximum Current Per 2500 mA Phase l Operating Temperature Range Oto 50 degrees C Alternate Unit CE Compliant Yes Weight 0 15 kg Group Specifications A MCA Series 28
25. pear in the RS232 receive buffer Check the settings are correct and not removing or replacing characters Communication Errors 21 Slipping and Stalling The device moves smoothly but only moves for a short time then stops The blue LED is flashing but the device is not actually slipping or stalling The internal encoder counter needs to be re initialized Reset the device by power cycling it or sending system reset T 0 command then re initialize it with the home T 1 command Ground the device and avoid operating it under statically noisy environment The device makes noise but does not move Blue LED is flashing The device is stalling Try removing all external loads If the device now extends and retracts normally the problem is excessive load Try to reduce the load and ensure the load is less than the maximum thrust A higher thrust or torque can be achieved by lowering the speed of the device using the maxspeed 1 42 setting If a device is stalling with no external load at default speed and acceleration settings then it requires servicing Slipping and Stalling 22 Warranty and Repair For Zaber s policies on warranty and repair please refer to the Ordering Polices Standard products Standard products are any part numbers that do not contain the suffix ENG followed by a 4 digit number Most but not all standard products are listed for sale on our website All standard Zaber products are backed by a one month satisfaction
26. port Blue LED On or Flashing The device has slipped or stalled Please see the Slipping and Stalling section below Yellow LED Always Off or Flashes but No Reply There are communication errors Please see the Communication Errors section below Troubleshooting A Series Closed Loop Motion Devices 19 Manual Control Turning the knob either way results in no movement The knob may have been disabled Check that the knob enable T 107 setting is correct Restore the default parameters through the system restore 1 36 command The device won t cover the full range of travel The device hasn t been homed Turn the knob anti clockwise until the device reaches the fully retracted position closest to the motor The device will home and the full range of travel available Unexpected Behaviour The device doesn t respond to a move command The device needs to be homed before use Send the home T 1 command The device is moving on its own and running against the ends of travel The position encoder has de synchronized Reset the device by power cycling it or sending system reset T 0 command then re initialize it with the home T 1 command Ground the device and avoid operation under a statically noisy environment The device is moving very slowly It used to move faster The speed settings may have been changed inadvertently Send a system restore T 36 command The device makes louder than normal noise during travel and is frequently
27. r to stepper motor products when operated with significantly higher than rated current The A MCA controller can provide up to 2 5A of current to a peripheral BEFORE CONNECTING A NEW DEVICE to the A MCA controller it is important to set the correct motor parameters in the controller Please check the rated current for any peripheral device before changing the current settings on the A MCA from the default values To put the A MCA controller into safe mode low current settings configure the peripheralid T 66 setting to 0 If you have any questions please contact Zaber Technical Support Precautions 3 Device Overview EME KNOB RON POWER Connectors Power Pin Description 1 Chassis 2 GND 3 12 48V RS232 Communications Pin Previous Next Transmit Receive Ground Ground Female Male Next Device Prev Device NN A WN Receive Transmit Default Settings Baud Rate 9600 Bits 8 e Parity None e Stop Bits 1 Flow Control None Protocol Binary Motor Interface Pin Description 45V 2 NC 3 NC 4 NC 5 Home Limit Sensor O Vaaosaao O6 Ground 15 Female DSUR DeviceGvenmiew Motor B1 8 Motor Al 9 Encoder 45V 10 Encoder A 11 Encoder B 12 Encoder Index 13 Encoder Ground 14 Motor B2 15 Motor A2 NOTE The limit sensor inputs are pulled up to the internal supply rail and are designed to be pulled low by an open collector NOTE All sensor and encoder inputs are non isola
28. ted 5V TTL lines Indicators PWR Green Power On Controller is operational Flashing at 2Hz The power supply voltage or device temperature is out of range Fading in and out slowly The device is parked See the tools parking T 65 command ERR Red Error On flashing Controller has lost its settings or an error has occurred Please contact Zaber Technical Support MOT Yellow Communication Busy On Device is moving or data is being transferred Blinking Device is under manual control via the knob in Velocity mode The blinking rate is proportional to movement speed ENC Blue Slip Stall On The device is slipping Motor Interface 2 short flashes every 1 sec The stationary device has been forced out of position On Off cycle every 2 sec The device has stalled and stopped Indicators Installation The A MCA can be connected to a computer as follows 1 Plug the Mini DIN to D Sub serial adaptor DSUB9 into your computer s serial port and plug the device s data cable into the adaptor you may need to use a cable extension to reach your computer There is no need to power down or reboot the computer USB to RS232 converters are available if you have no RS232 serial port 2 Connect the power plug of your power supply to the power connector of the unit The green LED should light up indicating the unit has power 3 Additional devices can simply be daisy chained to the first See
29. the axis to a previousl move Axis stored number 0 M P y rom stored position Renumbers all devices in the renumber Device value 0 chain Device and Sets the device or axis setting set setting value 0 i Axis setting to the value Em Axis 0 Decelerates the axis and brings it stop to a halt Resets the device as it would system reset Device 0 appear after power up Restores common device settings system restore Device 0 f to their default values Echoes the provided message 1f tools echo Device message 0 P Be any back to the user ote EE Moves the axis to a limit sensor tools gotolimit Axis limit dir action update 0 and performs the provided actions tools parking Device statelparklunpark 0l1 Parking allows the device to be turned off and used at a later time 14 without first having to home Sets RS232 baud rate and tools setcomm Device rs232baud protocol 0 x communication protocol i T 52 Stores a number of positions for tools storepos Axis number positionlcurrent Olposition P easy movement Configures actions to be Refer to the documentation 8 trigger Device 0 performed on the device when a below pe certain condition is met Displays the active device and warnings Axis clear 0 axis warnings optionally clearing them if applicable Quick Device Settings The settings listed below can be inspected and modified with the get and set commands des
30. tting Direction Set Knob Movement Mode 109 Movement Mode Setting Movement Mode Set Knob Jog Size 110 Jog Size Setting Jog Size Set Knob Velocity Scale 111 Velocity Scale Setting Velocity Scale Set Knob Velocity Profile 112 Velocity Profile Setting Velocity Profile Set Acceleration Only 113 Acceleration Setting Acceleration Set Deceleration Only 114 Deceleration Setting Deceleration Set Move Tracking Mode 115 Tracking Mode Setting Tracking Mode Set Manual Move Tracking 116 Tracking Mode Setting Tracking Mode Disabled Mode Set Move Tracking Period 117 Tracking Period Setting Tracking Period Set Closed Loop Mode 118 Closed Loop Mode Setting Closed Loop Mode Set Slip Tracking Period 119 Tracking Period Setting Tracking Period Set Stall Timeout 120 Timeout Setting Timeout Set Device Direction 121 Direction Setting Direction Set Baudrate 122 Baudrate Setting Baudrate Set Protocol 123 Protocol Setting Protocol Convert to Ascii 124 Baudrate Command Baudrate Error 255 n a Reply Error Code The settings for these commands are saved in non volatile memory i e the setting persists even if the device is powered down To restore all settings to factory default use command 36 Binary Protocol 18 Troubleshooting A Series Closed Loop Motion Devices The following sections contain tips for troubleshooting common problems with the A Series devices If the device is unable to communicate and it is operating erratically
31. w Command Description 1 1 getpos 1 60 Query the current position of device 1 axis 1 1 1 move abs 10000 1 20 10000 Move device 1 axis 1 to position 10000 microsteps ar T 21 12800 Move device 2 axis 1 in the negative direction by 12800 microsteps Decelerate and stop ALL axes on device 1 1 stop 1 23 An axis number of 0 or no no axis number implies all axes on the devices or the device itself Move ALL devices and ALL axes in the positive direction at the speed 153600 A device address of 0 or no device address implies all devices in the chain Modifying Device Settings move vel 153600 1 22 153600 Here are some examples if you would like to customize particular device settings Refer to the ASCH Settings or Command Reference section for detailed descriptions of each setting Command Description 1 set maxspeed 100000 1 42 100000 Set the speed of the all axes on the device 1 get maxspeed 7 53 42 Query the axes speed 1 system restore T 36 Restore all the settings of device 1 to the default Built In Help Zaber A Series devices with ASCII support feature a built in help guide providing a quick and easy reference for all Commands and Settings that the device has To access the help send 1 help The device will respond with a detailed description on how to access specific information about commands and replies as shown below 01 0 OK IDLE WR O0 01 0 COMMAND USAGE
32. with a termination character it often defaults to linefeed If problems are encountered when using custom software try using one of the demo programs from the Zaber website to verify that the hardware works The device does not behave as expected when software sends it a series of commands The computer might be set to Unicode This is common for languages that use non Latin based characters Go to Control Panel Regional and Language Options Advanced Select a language for non unicode programs This should be English or another Latin based character language Check what is being sent out of the serial port stackoverflow com has a list of some tools to monitor serial ports In Binary mode the device does not send replies but otherwise works Auto reply might have been disabled via T 101 Send a system restore T 36 command If the problem is encountered when trying to control the device with custom software Use a demo program from the Zaber website to verify that the hardware is functioning properly Make sure that the receiving part of the code or commercial package is correct 9 Check the serial port settings are correct 9 Check connectors for bent or broken pins In Binary mode the device sometimes returns fewer than 6 bytes This typically indicates a problem with the serial port settings Some serial ports are set to automatically recognize and remove specific control characters such as carriage returns when they ap
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