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T-LA Product User`s Manual Firmware 5.00 and up Last Update

1. It s a good idea to do a timing reality check whenever viewing a waveform such as this The bit rate should be 9600 bits second The time scale in the image is 200 us division Since a byte consists of 10 bits start stop plus 8 data bits and the bit rate is 9600 bits s the duration of a single byte should be 1 04 ms 10 9600 seconds or about 5 2 divisions at 200 us division It can be seen in the image that this is the case This is a closeup of the reply bytes Note that the voltage swing of the reply waveform is about 8V This is a typical output from the RS232 driver chip used in Zaber devices The instruction was to all devices Only a single device is present so there is only one reply The reply is 1 51 252 1 0 0 indicating the reply Device 1 Reply Firmware version Data 508 The data is the last 4 bytes combined with least significant byte first In this case the data is 0 25643 0 25642 1 256 252 508 This indicates a firmware version of 5 08 since according to the instruction specification a decimal is assumed before the last two digits The time scale in this image is 1 ms division As noted above at a bit rate of 9600 bits second each byte should take 1 04 ms Therefore a 6 byte reply should take 6 24 ms It can be seen in the image that this is the case 1 51 253 110 0 a y a e T ar E E iji Me e UUS ho y gt A ae lt r A vu UE NS ES dle Sample Waveforms
2. Quick Command Reference The following table offers a quick command reference for motorized devices running firmware version 5xx For convenience you may sort the table below by instruction name command number or reply number Follow the links to view a detailed description of each instruction Instruction Name Command Command Data Command Type Reply Data Reset 0 Ignored Command None Home Ignored Command Final position in this case 0 Renumber 2 Ignored Command Device Id 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 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 Read Or Write Memory 35 Data Command Data 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 40 Mode Setting Mode Set Home Speed 41 Speed Setting Speed Set Target Speed 42 Speed Setting Speed
3. Alternately the T DSUB9 P vacuum adaptor can be substituted into an order to make this connection Data Cable Wiring Diagram 5 Connection diagram of vacuum products to computer and power supply Computer Power Supply Gnd Rx Tx A Communications Gnd 15V Feedthrough Tx Rx Devices daisy chained Vacuum Chamber Physical Installation Mounting When mounting a Zaber linear actuator care must be taken not to over constrain the leadscrew At the point of contact between the leadscrew and the object to be moved there are 6 degrees of freedom which can be constrained translation along xyz axes and rotation about those axes The load should constrain only the axial translation of the leadscrew The simplest way to achieve this is to have the lead screw press against a flat surface perpendicular to the axis of the leadscrew Any further constraint such as rigidly fixing the leadscrew to the load may result in an over constrained system that will reduce thrust or cause the leadscrew to bind You can mount the actuator by sliding the 9 5mm mounting shank through the hole on a translation stage like our TSB stages Tighten a clamp around the shank or secure the included 3 8 32 screw on the other side of the hole Some actuators also have mounting holes on the side or bottom of the actuator and come with mounting screws Grounding To prevent damage to the device due to static buildup the device should be properly groun
4. Command Data Mode Reply Data Mode Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Sets the Mode for the given device This command allows setting several options Each option is controlled by a single bit within the command data Most software you will encounter including most of our demo software represents all 4 data bytes as a single decimal value rather than specifying each bit individually To determine what decimal value to use requires a basic understanding of how the data is represented in binary The command data may be considered as a single 32 bit binary value The least significant bit is bit_0 the next is bit_1 the next is bit_2 and so on up to the most significant bit_31 Each bit may have a value of either 1 or 0 The corresponding decimal representation of this 32 bit data is given by Decimal value bit_O 1 bit_1 2 bit_n 24n bit_31 2131 Each bit controls a single mode option as described in the table below To determine the data value to use with the Set Device Mode command simply determine the desired value of each bit 1 or 0 and calculate the decimal value using the above formula Note that not all 32 bits are currently used Any unused or reserved bits should be left as 0 For example suppose you want all mode bits to be 0 except for bit_3 disable potentiometer bit_14 disable power LED and bit_15 disable serial LED The Set Device Mode
5. T Series motorized devices Firmware Version S xx Command Number 43 Command Type Setting Command Data Acceleration Reply Data Acceleration Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Sets the acceleration used by the movement commands When a movement command is issued the device will accelerate at a rate determined by this command Set Acceleration up to a maximum speed determined by the target velocity The acceleration may be changed on the fly even when the device is in the middle of a move To determine the acceleration that will result from a given data value the following formulas may be used Actual Acceleration 11250 Data M mm s 2 or deg s42 11250 Data microsteps s 2 11250 Data R steps s 2 Set Acceleration Cmd 43 27 Where e Data is the value specified in the Command Data e M mm or deg is the microstep size e R is the microstep resolution set in command 37 microsteps step The maximum value allowable is 512 R 1 This is the same as the maximum allowable data for velocity which means that the device will reach maximum velocity immediately If acceleration is set to 0 it is as if acceleration is set to 512 R 1 Effectively acceleration is turned off and the device will start moving at the target speed immediately Set Maximum Position Cmd 44 Instruction Name Set Maximum Position
6. This command does not send a response until the move has finished All move commands are pre emptive If a new move command is issued before the previous move command is finished the device will immediately move to the new position The target speed and acceleration during a move absolute instruction can be specified using Set Target Speed Cmd 42 and Set Acceleration Cmd 43 respectively This command may pre empt or be pre empted by Move to Stored Position Cmd 18 Move Absolute Cmd 20 Move Relative Cmd 21 Move at Constant Speed Cmd 22 and Stop Cmd 23 Move Absolute Cmd 20 Instruction Name Move Absolute Applies to T Series motorized devices Firmware Version 5 XX Command Number 20 Command Type Command Command Data Absolute Position Reply Data Final Position Safe to retry Yes Returns Current Position Yes Persistence n a Summary Moves the device to the position specified in the Command Data in microsteps The device begins to move immediately and sends a response when the move has finished The position must be between O and Maximum Position specified by Set Maximum Position cmd 44 or an error code will be returned The target speed and acceleration during a move absolute instruction can be specified using Set Target Speed Cmd 42 and Set Acceleration Cmd 43 respectively All move commands are pre emptive If a new move command is issued before the previous move co
7. the green LED should light 42 6 If your device has a manual control knob make sure it is centered you should feel a detent in the center position 7 If your computer is a laptop running on batteries try plugging in the power Some laptops disable the serial ports when running on batteries 8 Make sure you do not have a null modem adaptor or cable in the line 9 The serial to mini din adaptor comes in many varieties and many have different pin connections Check the adaptor for continuity on the proper pins by consulting the adaptor pin out diagram above If you encounter the problem when trying to control the device with your own software try using one of the demo programs from our website to verify that the hardware is functioning properly 10 My device is behaving strangely It responds to some commands as expected but not to others ER Send a Restore Settings Instruction command 36 A setting might have been inadvertently changed If you have a T MCA or T CD series stepper motor controller note that a data value should be entered with the Restore Default Settings Instruction corresponding to the Peripheral Id of the device you are controlling Your 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 base
8. will automatically adjust the velocity but still target the final position specified in the original move For a spreadsheet that can be used to calculate speed setting values for any product see http www zaber com documents ZaberSpeedSetting xls Alternatively you may use the formulas below Actual Speed Data 9 375 M mm s or deg s Set Target Speed Cmd 42 26 Data 9 375 microsteps s Data 9 375 R steps s Data 9 375 R x S 60 revolutions min Motor rpm Data 9 375 L R x S mm s Linear devices only where e Data is the value of the command data e R microsteps step is the microstep resolution command 37 e S steps revolution is the number of steps per motor revolution e M mm or deg is the microstep size e L mm or deg is the distance of linear motion per motor revolution Refer to product specifications for the distance corresponding to a single microstep or revolution For example if a motor has 48 steps per revolution S 48 used with default resolution R 64 and Data is 2922 then the motor will move at a speed of approximately 535 revolutions per minute Valid data values are from 0 to 512xR 1 In Firmware 5 21 and 5 22 a value of 0 is not allowed In all other versions target speed of O will cause Move Absolute Relative and Move to Stored Position commands to return an error Set Acceleration Cmd 43 Instruction Name Set Acceleration Applies to
9. 6 lb 3 4 lb 0 012 Precision leadscrew Magnetic home sensor 1 3 8 32 nut or 3 8 shank No U to 50 degrees C Yes 51 CE Compliant Yes Comparison T LA Series Part Number Travel Range Accuracy unidirectional Manual Control 13 mm 24 um ILABA 0 512 0 000945 TES 13 mm 24 um TLABAS 0 519 n 0 000945 ne 28 mm 24 um LLABA 1 102 0 000945 Aes 28 mm 24 um T LAZ8BA S 1 102 0 000945 ae 60 mm 36 um TLAGA 2362 0 001417 xes 60 mm 36 um TLAGOA S 2362 0 001417 So Part Number LED Indicators Weight T LA13A Yes 0 14 kg T LA13A S No 0 11 kg T LA28A Yes 0 14 kg T LA28A S No 0 11 kg T LA60A Yes 0 15 kg T LAG0A S No 0 14 kg Comparison T LA Series 52
10. Clockwise rotation of the knob produces positive motion extension and counter clockwise rotation produces negative motion retraction The speed of retraction or extension will be directly related to the amount to which the knob is turned from its center detent position turning the knob to its center position will stop the device from moving During manual moves the device constantly returns its position so a computer can track the position even when you are controlling the device manually Manual control can be disabled with a mode setting The speed of the potentiometer controlled manual moves is also determined by the Set Target Velocity command 42 When the knob is fully turned to either limit the device will move at the maximum velocity set by command 42 Any intermediate position of the knob will move the device at a velocity proportional to how far the knob has been turned If the velocity is set to be very small it may appear that turning the knob produces no movement The way to verify that the actuator is moving is to connect it to a computer and monitor the replies back to the computer During operation if the actuator is extended or retracted against a force greater than its thrust capability the device will stall and there will be missed steps This can result in an apparent malfunction in that the device believes its position to be other than it actually is and will not extend or retract the actuator past a given position
11. Set Acceleration 43 Acceleration Setting Acceleration Set Maximum Position 44 Range Setting Range Set Current Position 45 New Position Setting New Position Set Maximum Relative Move 46 Range Setting Range Set Home Offset 47 Offset Setting Offset Set Alias Number 48 Alias Number Setting Alias Number Set Lock State 49 Lock Status Command Lock Status Return Device Id 50 Ignored Read Only Setting Device Id Return Firmware Version 51 Ignored Read Only Setting Version Quick Command Reference 10 Return Power Supply Voltage 52 Ignored Read Only Setting Voltage Return Setting 53 Setting Number Command Setting Value Return Status 54 Ignored Read Only Setting Status Echo Data 55 Data Command Data Return Current Position 60 Ignored Read Only Setting Position 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 Quick Command Reference 11 Detailed Command Reference This command reference applies only to firmware version 5 00 and up to the most recent version The version of firmware installed on any Zaber T Series device can be determined by issuing command 51 A three digit number will be returned Assume 2 decimal places ex a reply of 293 indicates firmware version 2 93 For earlier versions of firmware please c
12. T DSUB9 adaptor It looks similar to an old PS 2 serial mouse adaptor but it has different wiring Connecting Vacuum Compatible Devices These Zaber products are available in a vacuum compatible version Vacuum compatible devices identifiable by the suffix V in the part number have special requirements for their connection to a computer Power No power connectors are provided on vacuum compatible devices Instead power must be supplied through the data cable lines A special serial adapter with power input is provided Data Cables Vacuum compatible devices use the same mini din data cable extensions as our standard devices however the cable jacket is stripped back to the connectors to expose the individual wires The mini din connectors are left attached to facilitate easy testing In your final application you can cut the wires and splice them to a feed through on your vacuum chamber Communication lines can be wired back to the appropriate mini din connector outside your vacuum chamber Power lines can be wired to any appropriate power supply See the table below for pinouts If you have multiple units inside the same vacuum chamber you may connect them using the attached mini din connectors or for improved vacuum compatibility you may remove the connectors and permanently wire the units together Grounding When re wiring Zaber devices it is important to wire the ground to both the computer and the power supply see diagram below
13. Without connecting a computer to home the device or set its position the only solution is to retract the actuator until it activates the internal home switch which will automatically zero the device at the home position A problem arises if the device incorrectly believes its position to be zero since it will not retract to the home position In this case you must disconnect and reconnect the power before manually homing the device Manual Control 40 LED functions The green LED is on whenever there is power to the device A constant blinking 2Hz of the green LED indicates that the power supply is out of range The green LED may be disabled by a mode bit see command 40 The amber or red LED flashes when there is traffic packet on the RS232 line It also stays on while the device is moving When the potentiometer is turned the amber or red LED will blink at a rate that is proportional to how far the potentiometer is turned The farther the knob is turned away from center detent the faster the LED will blink If the device reaches either the home or the away limit while under manual control the LED will blink slowly to indicate that the device cannot move any farther LED functions 41 Troubleshooting T Series Motion Devices Symptom Check After the device finishes a move command it starts moving again on its own The potentiometer knob is probably not centered Make sure the knob is set to the middle position You can
14. been over extended and is stuck You can usually get the lead screw unstuck by pushing on it after issuing the home command If a device is stalled with no external load in a position that is not fully extended then it requires servicing There is no communication between the computer and my Zaber device the amber light does not come on or flash Troubleshooting T Series Motion Devices There are several things you should check 1 Make sure you have the correct serial port selected Try selecting other serial ports in the software To ensure that your serial port is working properly you can connect the send and receive pins of the serial adaptor without connecting any devices Use a wire to connect pins 2 and 6 Your software should echo a reply every time you send an instruction You can view the pinout diagram here Check the baud rate hand shaking parity stop bit etc when configuring your serial communications software The required settings are listed in the Control Through The RS 232 Serial Port section above Also make sure that your serial port is not configured with a termination character it often defaults to linefeed 3 Make sure there are no bent pins in the ends of all the data cables Make sure the power supply is working Check the voltage over the DC plug to see if it measures close to the rated voltage for the supply 5 Make sure the power plug is plugged in all the way If your device has LEDs
15. device may be set to return its position continuously during the move using the set mode command 40 bit 4 Position tracking is a reply only command 8 If the device runs into zero position or maximum range the device stops and the new position is returned via reply only command 9 1 22 and 23 This command may pre empt or be pre empted by commands 18 20 For a spreadsheet that can be used to calculate speed setting values for any product see http www zaber com documents ZaberSpeedSetting xls Alternatively you may use the formulas below Actual Speed Data 9 375 M mm s or deg s Data 9 375 microsteps s Data 9 375 R steps s Data 9 375 R x S 60 revolutions min Motor rpm Data 9 375 L R x S mm s Linear devices only where e Data is the value of the command data e R microsteps step is the microstep resolution command 37 e S steps revolution is the number of steps per motor revolution e M mm or deg is the microstep size e L mm or deg is the distance of linear motion per motor revolution Refer to product specifications for the distance corresponding to a single microstep or revolution For example if a motor has 48 steps per revolution S 48 used with default resolution R 64 and Data is 2922 then the motor will move at a speed of approximately 535 revolutions per minute Valid data values are from 512xR 1 to 512xR 1 Note that a value of zero will cause the d
16. first time you connect a device to your computer you must issue a renumber instruction to assign each device a unique identifier This should be done after all the devices in the daisy chain are powered up In older firmware versions prior to version 5xx you must issue a renumber instruction after each powerup In firmware 5xx and up the device number is stored in non volatile memory and will persist after powerdown so you need only issue the renumber instruction when you add new devices to the chain or rearrange the order of the devices however it does no harm to issue the renumber instruction after every powerup You must not transmit any instructions while the chain is renumbering or the renumbering routine may be corrupted Renumbering takes less than a second after which you may start issuing instructions over the RS232 connection All instructions consist of a group of 6 bytes They must be transmitted with less than 10 ms between each byte If the device has received less than 6 bytes and then a period longer than 10 ms passes it ignores the bytes already received We recommend that your software behave similarly when receiving data from the devices especially in a noisy environment like a pulsed laser lab The following table shows the instruction format e Byte 1 Device e Byte 2 Command e Byte 3 Data Least Significant Byte LSB e Byte 4 Data e Byte 5 Data e Byte 6 Data Most Significant Byte MSB The fir
17. instruction should be sent with data calculated as follows Set Hold Current Cmd 39 22 Command Data 243 2414 2415 8 16384 32768 49160 Note that each instance of the Set Device Mode command overwrites ALL previous mode bits Repeated commands do not have a cumulative effect For example suppose you send a Set Device Mode command with data of 8 to disable the potentiometer If you then send another Set Device Mode command with data of 16384 to disable the power LED you will re enable the potentiometer since bit_3 in the 2nd instruction is 0 Most devices have a default mode setting of O all bits are 0 however there are some exceptions See Appendix A of the user manual for a table of default settings Bit_n 2 n Description bit_0 Disable Auto reply A value of 1 disables ALL replies except those to echo read renumber and return commands The default value is 0 on all devices bit_1 Enable Anti backlash Routine A value of 1 enables anti backlash On negative moves retracting the device will overshoot the desired position by 640 microsteps assuming 64 microsteps step reverse direction and approach the requested position from below On positive moves extending the device behaves normally Care must be taken not to crash the moving payload into a fixed object due to the 640 microsteps overshoot on negative moves The default value is 0 on all devices See note on an
18. motor and the hold current can be turned off completely The hold current can be turned off by issuing the Set Hold Current instruction with data of 0 When the device is moving it applies running current to the motor When the device stops moving running current is applied for an additional 0 1 second before hold current is applied The current is related to the data by the formula Current CurrentCapacity 10 CommandData The range of accepted values is O no current 10 max 127 min CurrentCapacity is the hardware s maximum capability of output current To prevent damage some devices limit the maximum output current to a lower value In that case the valid range is 0 Limit 127 Current limits are listed under the device specifications Set Running Current Cmd 38 21 Some devices limit the voltage rather than the current In this case the same formula can be used by replacing Current and CurrentCapacity with Voltage and PowerSupply Voltage For example Suppose you connect a stepper motor rated for 420mA per phase to a T CD2500 Reversing the equation above and using 420mA as Current gives CommandData 10 CurrentCapacity Current 10 2500mA 420mA 59 5 round to 60 Therefore CommandData 60 Set Device Mode Cmd 40 Instruction Name Set Device Mode Applies to T Series motorized devices Firmware Version 5 xx since 5 04 Command Number 40 Command Type Setting
19. new device is connected before it can be controlled independently 5 Install software from http www zaber com wiki Software figure 4 We recommend installing the Zaber Console to get started As a simple first test try entering these instructions Renumber all devices Device 0 Cmd 2 Data O Home device 1 Device 1 Cmd 1 Data 0 Move device 1 to 10 000 microsteps Device 1 Cmd 20 Data 10000 Ad co pu me cr t peba TS gn pefa e To see the microstep distance resolution for your device see the specs page for that device on the respective SS product page Figure 1 Figure 2 Figure 3 Figure 4 Data Cable Wiring Diagram Pin Minidin 6 Female Minidin 6 Male to next device to previous device Installation 4 Receive from next device Transmit toward computer Ground Ground 12 16 Vdc 12 16 Vdc DNI nI R Wyo fr Transmit to next device Receive from computer T Series 12 16V devices only all T series devices except T LSO T LST T MCA Note that multiple cable suppliers have been used over the years each implementing different color codes Rather than relying on the wire colors it is recommended that users perform a continuity test to determine which wires are connected to which pins on their own device To connect a Zaber device to a computer serial port requires a
20. range of target speed is determined by the resolution 43 Acceleration Invalid Target acceleration out of range The range of target acceleration is determined by the resolution 44 Maximum Range The maximum range may only be set between 1 and the resolution limit of the Invalid stepper controller which is 16 777 215 45 Current Position Current position out of range Current position must be between 0 and the Invalid maximum range 46 Maximum Relative Max relative move out of range Must be between 0 and 16 777 215 Move Invalid 47 Offset Invalid Home offset out of range Home offset must be between 0 and maximum range 48 Alias Invalid Alias out of range 49 Lock State Invalid Lock state must be 1 locked or 0 unlocked 53 Setting Invalid Return Setting data entered is not a valid setting command number Valid setting command numbers are the command numbers of any Set instructions 64 Command Invalid Command number not valid in this firmware version 255 Busy Another command is executing and cannot be pre empted Either stop the previous command or wait until it finishes before trying again 1600 Save Position Invalid Save Current Position register out of range must be 0 15 1601 Save Position Not Save Current Position is not allowed unless the device has been homed Homed Error Codes 38 1700 Return Position Invalid Return Stored Position register out of range must be 0 15 18
21. 00 Move Position Invalid Move to Stored Position register out of range must be 0 15 1801 Move Position Not Homed Move to Stored Position is not allowed unless the device has been homed 2146 Relative Position Limited Move Relative command 20 exceeded maximum relative move range Either move a shorter distance or change the maximum relative move command 46 3600 Settings Locked Must clear Lock State command 49 first See the Set Lock State command for details 4008 Disable Auto Home Set Device Mode this is a linear actuator Disable Auto Home is used for rotary Invalid actuators only 4010 Bit 10 Invalid Set Device Mode bit 10 is reserved and must be 0 4012 Home Switch Invalid Set Device Mode this device has integrated home sensor with preset polarity mode bit 12 cannot be changed by the user 4013 Bit 13 Invalid Set Device Mode bit 13 is reserved and must be 0 Error Codes 39 Manual Control Turning the potentiometer knob will make the device move It is not necessary to have a computer connected to use the device in manual mode However without a computer connected you have no means to initialize the device with a starting position Therefore you must retract it completely after each power up in order to home the device You will not be able to extend it fully until you have first retracted it completely to set the home position
22. Applies to T Series motorized devices Firmware Version S xx Command Number 44 Command Type Setting Command Data Range Reply Data Range Safe to retry Yes Returns Current Position NO Persistence Non Volatile Summary Sets the maximum position the device is allowed to travel to Use this command to limit the range of travel to a value other than the default Exercise caution when using this command since it is possible to set the range to a value greater than the physical limits of the device A device within range of travel is not allowed to move above its Maximum Position Valid values can be any number from 0 to 16777215 The behaviour of this command depends on the firmware version 5 01 5 20 Device movement behaviour when out of range is not well defined 5 21 5 22 The new Maximum Position cannot be less than the current position 5 23 and up If the device Current Position is out of range and above Maximum Position the device is not allowed to move in the positive direction Set Maximum Position Cmd 44 28 This setting is stored in non volatile memory and will persist after power down or reset NOTE This command was previously named Set Maximum Range Set Current Position Cmd 45 Instruction Name Set Current Position Applies to T Series motorized devices Firmware Version S xx Command Number 45 Command Type Setting Command Data N
23. Ids In this mode of communication only bytes 3 through 5 are used for data Byte 6 is used as an Id byte that the user can set to any value they wish It will Set Device Mode Cmd 40 23 be returned unchanged in the reply Message Ids allow the users application to monitor communication packets individually to implement error detection and recovery The default value is O on all devices Prior to firmware version 5 06 this feature was called Virtual Channels Mode and did not behave reliably We do not recommend enabling this mode of communications unless you have firmware version 5 06 or later bit_7 128 Home Status This bit is set to O automatically on power up or reset It is set automatically when the device is homed or when the position is set using command 45 It can be used to detect if a device has a valid position reference It can also be set or cleared by the user bit_8 256 Disable Auto Home A value of 1 disables auto home checking Checking for trigger of home sensor is only done when home command is issued This allows rotational devices to move multiple revolutions without re triggering the home sensor bit_9 512 Reverse Potentiometer A value of 1 reverses the direction of the travel when the potentiometer is used to control the device This mode bit was introduced in firmware version 5 06 Prior to that it was not used bit_10 1 024 Reserved bit_11 2 048 Enable Circul
24. Return Stored Position Applies to All motorized devices Firmware Version 5 04 and up Command Number 17 Command Type Command Command Data Address Reply Data Stored Position Safe to retry Yes Returns Current Position NO Persistence n a Summary Returns the position stored in one of the 16 position registers for the device Valid command data values are O through 15 specifying one of 16 possible registers from which to retrieve the position This command is used in conjunction with the Store Current Position 16 and Move To Stored Position 18 commands Positions stored in the position registers are non volatile and will persist after power down or reset All position registers are cleared by the Restore Settings 36 command Move To Stored Position Cmd 18 Instruction Name Move To Stored Position Applies to All motorized devices Store Current Position Cmd 16 Firmware Version 5 04 and up Command Number 18 Command Type Command Command Data Address Reply Data Final Position Safe to retry Yes Returns Current Position Yes Persistence n a Summary Moves the device to the stored position specified by the Command Data Valid address values are 0 through 15 specifying one of 16 possible positions This command is used in conjunction with the Store Current Position 16 and Return Stored Position 17 commands
25. T LA Product User s Manual Firmware 5 00 and up Last Update December 10 2015 Visit www zaber com wiki for more recent updates Zaber Technologies Inc 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 l T LA28 SS r T LA28 S Tak if T LAGO cE Rr i i T LA60 S O Kr p T HLA28 R T HLA28 S Table of Contents DISCLAIMER 5505 os a aca sae cect succhiscnceissceckcasebescaseeseccssesuscassedvessaneeved ssvvedssesbed soeectraseuc coasseccbsscbetcs ectessseorseeseees 1 NS STT A O 2 SPECIAL INO e O NOS 2 LAMP CATT OT A A CR an REE BNE EEE 2 GARA se seotososoiutss isee ossos voss besst osu Ses vbro sos ossos Sessa Ss Kossu Sess o 6s6 es 3 A AE A A TA 4 Connection toa COMPU E E E EEEE AEE E EE EE E 4 Data Cable Wiring Dia TM isos iii aE EES aA 4 Connecting Vacuum Compatible Devices cee sees eee eee 5 Physical Installation id di sania tata 6 MOON ai ae in ein in eae 6 TONI a at TTT 6 Control Through The RS 232 Serial Port ccsccsssscssssssssscsssssssssccsssccsscsssssssssssssssesssssssssssssssssssssssssessesass 7 EXAMPLES A Ai 7 Data ConversionzAl gorithms isc ssscaccrseessaeestacenabdawetts EEO RE Ea EREE lacaeeves E ar Eee N aE 8 Sample W VvefotmS aria a a A AA Ada 8 Quick Command Reference e sseoessececssccessocecssocecsccecsscocececocecseececssoecssccecssoecseececssecesseceessecessececsseseesececsssseeses 10 Detailed Command References cicisssccsisssesstent
26. and so on If sent to a device number other than 0 then that device will reassign itself the device number in the command data Valid device numbers are 1 99 for version 6 05 and 1 254 otherwise Note Renumbering takes about 1 2 a second during which time the computer must not send any further data The device number is stored in non volatile memory so you can renumber once and not worry about issuing the renumber instruction again after each power up Home Cmd 1 13 Store Current Position Cmd 16 Instruction Name Store Current Position Applies to All motorized devices Firmware Version 5 04 and up Command Number 16 Command Type Command Command Data Address Reply Data Address Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Saves the current absolute position of the device Valid Address values are O through 15 specifying one of 16 possible registers in which to store the position This command can only be executed when the device has been homed This command is used in conjunction with the Return Stored Position Command 17 and Move To Stored Position Command 18 instructions The positions stored in the position registers are non volatile and will persist after power down or reset All position registers are cleared by the Restore Settings Command 36 instruction Return Stored Position Cmd 17 Instruction Name
27. ar Phase Microstepping Square phase microstepping is employed by default A value of 1 enables circular phase microstepping mode The differences are Circular Phase e constant torque e smoothest operation e better microstep accuracy e only 70 torque and lower power consumption Square Phase e non constant torque e less smooth operation e poorer microstep accuracy e 100 torque achieved and higher power consumption bit_12 4 096 Reserved bit_13 8 192 Reserved bit_14 16 384 Disable Power LED A value of 1 turns off the green power LED It will still blink briefly immediately after powerup bit_15 32 768 Disable Serial LED A value of 1 turns off the yellow serial LED Anti backlash and Anti sticktion routines are designed to compensate for backlash and sticktion The solution to backlash is to always approach a position from the same direction The solution to sticktion is to move the device far enough away from the final position to break free of sticktion before attempting the final move The operation of the two features are dependent on each other and the interaction of enabling one or both of the features is described in the diagram to the right Set Device Mode Cmd 40 24 Actuator cc Extend Anti Backlash ON Anti Backlash OFF o L 5 L o Z l i x u ppe c C O Le E 3 3 oa o lt For eac
28. d by the controlling computer The meanings of these replies and their corresponding data are given below Move Tracking Cmd 8 Instruction Name Move Tracking Applies to T Series motorized devices Firmware Version _ 5 xx Command Number 8 Command Type Reply Command Data n a Reply Data Position Safe to retry Yes Returns Current Yes Position Persistence n a Summary Indicates to the user that the device has been set to a position tracking mode and given a move instruction Move Tracking has been enabled see Set Device Mode Cmd 40 and device has been given a move instruction In this mode the device sends this reply every 0 25 seconds updating the current absolute position in microsteps during any move Limit Active Cmd 9 Instruction Name Limit Active Applies to All motorized devices Firmware Version 5 00 and up Command Number 9 Command Type Reply Command Data n a Reply Data Position Safe to retry Yes Returns Current Position Yes Persistence n a Summary Indicates to the user that the device has reached one of the limits of travel Reply Only Reference 36 This response from a device indicates that a move at constant speed command has finished Generally this is because the device reached one of the limits of travel either the minimum position or maximum position but it also occurs if the device i
29. d character language The device is moving very slowly It used to behave differently The speed settings may have been changed inadvertently Send a Restore Settings Instruction command 36 The device is not communicating or responding to computer control The yellow LED may be blinking If the actuator has a manual control knob make sure the knob is centered Turn it back and forth until you feel a click or detent Leave the knob at the center detent position Then turn device off and on and try again Green LED does not come on Check the A C wall plug the voltage adaptor and its connection to the device If the power is coming over the data cable check the mini din connector for bent or broken pins The amber light should turn off Green LED flashes The power supply voltage is outside the specified range for your device It may either be too low or too high Some unregulated adaptors may produce voltages significantly in excess of their rated values If the number of devices connected on a single power supply exceeds its current capability the voltage may drop below the required minimum voltage You may experience this problem when many motors on a single supply move together The load may exceed the maximum current available causing the voltage to drop too low If you experience this problem with a single device on a single unregulated supply rated at over 300 mA then the problem is probably that the su
30. d just been issued but the setting will not be changed For example command 48 is the Set Alias instruction Therefore if you wish to return the current value of the alias number simply send the Return Setting instruction with data of 48 The device will reply with command 48 and data equal to the setting value Since firmware version 5 21 this command also accepts the command numbers of any Return instruction such as command 50 Return Device Id Return Power Supply Voltage Cmd 52 33 Return Status Cmd 54 Instruction Name Return Status Applies to T Series motorized devices Firmware Version 5 XX Command Number 54 Command Type Read Only Setting Command Data Ignored Reply Data Status Safe to retry Yes Returns Current Position No Persistence n a Summary Returns the current status of the device Possible status codes are as follows e 0 idle not currently executing any instructions e executing a home instruction e 10 executing a manual move i e the manual control knob is turned e 18 executing a move to stored position instruction FW 5 04 and up only e 20 executing a move absolute instruction e 21 executing a move relative instruction e 22 executing a move at constant speed instruction e 23 executing a stop instruction i e decelerating Echo Data Cmd 55 Instruction Name Echo Data Applies
31. ded 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 Restore Settings 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 shield of one of the data cables The T LA is particularly sensitive to static discharge at the front mount For best results avoid touching the front mount of the T LA while the device is in operation Connecting Vacuum Compatible Devices 6 Control Through The RS 232 Serial Port All T Series devices use the same RS232 communications protocol Your communications settings must be 9600 baud no hand shaking 8 data bits no parity one stop bit The yellow LED will light when there is activity on the RS232 lines You may use this feature to determine which COM port you are connected to We recommend using the Zaber Console that you can download from our web site The source code is also available for you to use as an example for writing your own custom code See the troubleshooting section later in this manual if you have trouble communicating with the device Important The
32. e forward until the home sensor is no longer triggered then move forward by the Home Offset value in microsteps and resets the internal position to O for most devices Note that the home offset command also changes the range settings of the device For example if the initial Home Offset is O and the Maximum Position is 500 000 and the user changes the Home Offset to 70 000 then the Maximum Position is automatically adjusted to be 430 000 However changing the Maximum Position does not affect the home offset When a new Home Offset is specified Maximum Position is adjusted to provide the same maximum location However the device will not be able to travel below its new home position unless it is homing This setting is stored in non volatile memory and will persist after power down or reset Set Maximum Relative Move Cmd 46 30 Set Alias Number Cmd 48 Instruction Name Set Alias Number Applies to All Zaber devices Firmware Version 5 00 and up Command Number 48 Command Type Setting Command Data Alias Number Reply Data Alias Number Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Sets an alternate device number for a device This setting specifies an alternate device number for a device in addition to its actual device number By setting several devices to the same alias number you can control a group of devices with a single instructi
33. e devices limit the maximum output current to a lower value In that case the valid range is 0 Limit 127 Current limits are listed under the device specifications Some devices limit the voltage rather than the current In this case the same formula can be used by replacing Current and CurrentCapacity with Voltage and PowerSupply Voltage Set Microstep Resolution Cmd 37 20 For example Suppose you connect a stepper motor rated for 420mA per phase to a T CD2500 Reversing the equation above and using 420mA as Current gives CommandData 10 CurrentCapacity Current 10 2500mA 420mA 59 5 round to 60 Therefore CommandData 60 Set Hold Current Cmd 39 Instruction Name Set Hold Current Applies to T series motorized devices excluding T LSQ T LST T MCA Firmware Version S xx Command Number 39 Command Type Setting Command Data Value Reply Data Value Safe to retry Yes Returns Current Position No Non Volatile Summary Sets the desired current to be used when the device is holding its position It is typical to run stepper motors at their rated current only during moves for highest torque and reduce the current when idle just to hold the position Persistence Typically the hold current can be set to around 25 50 of the running current In some applications the friction of the drive system alone is sufficient to hold the microstep position of the
34. e n a Summary Returns the firmware version installed on the device A decimal is assumed before the last two digits For example 502 indicates firmware version 5 02 Set Lock State Cmd 49 32 Return Power Supply Voltage Cmd 52 Instruction Name Return Power Supply Voltage Applies to All Zaber devices Firmware Version 5 00 and up Command Number 52 Command Type Read Only Setting Command Data Ignored Reply Data Voltage Safe to retry Yes Returns Current Position No Persistence n a Summary Returns the voltage level of the device s power supply A decimal is assumed before the last digit For example a value of 127 indicates 12 7 V Note that the internal voltage measurement is not very accurate Don t be alarmed if the indicated voltage is slightly different from your measurements Return Setting Cmd 53 Instruction Name Return Setting Applies to All Zaber devices Firmware Version 5 00 and up Command Number 53 Command Type Command Command Data Setting Number Reply Data Setting Value Safe to retry Yes Returns Current Position No Persistence n a Summary Returns the current value of the setting specified in the Command Data Valid command data values are the command numbers of any Set instruction The device will reply using the command number of the specified setting as if a command to change the setting ha
35. eps s Data 9 375 R x S 60 revolutions min Motor rpm Data 9 375 L R x S mm s Linear devices only where e Data is the value of the command data e R microsteps step is the microstep resolution command 37 e S steps revolution is the number of steps per motor revolution e M mm or deg is the microstep size e L mm or deg is the distance of linear motion per motor revolution Refer to product specifications for the distance corresponding to a single microstep or revolution For example if a motor has 48 steps per revolution S 48 used with default resolution R 64 and Data is 2922 then the motor will move at a speed of approximately 535 revolutions per minute Valid data values are from 1 to 512xR 1 Set Target Speed Cmd 42 Instruction Name Set Target Speed Applies to T Series motorized devices Firmware Version 5 xx Command Number 42 Command Type _ Setting Command Data Speed Reply Data Speed Safe to retry Yes Returns Current No Position Persistence Non Volatile Summary Sets the speed at which the device moves when using the Move Absolute or Move Relative commands When a move absolute or move relative instruction is issued the device will accelerate at a rate determined by the acceleration setting up to the speed determined by this command The target velocity may be changed on the fly even when the device is in the middle of a move The device
36. esetscvvovcssvvettecsuecteesteseescestesstvocesstvectessueatodsutesessstescessveeecsscventevss 12 Reset E a a E A ESOR ETE E EE E E E TTT 12 SPECIAL Not a nz 12 Home Cmd liviana sii iia 12 Rentmber CO A E E EEE EAE liado e 13 Store Current Position Cmd IO raem a a a e aa aa a aa Doaa AES AEAEE Soasi 14 Return Stored Position Cmd IZ e a a a a a aae ea daa iier katis 14 Move To Stored Position Cmd EE TTT 14 Move Absolute OA Y DTH 15 Move Relative Cmd Zi adi ia 16 Move At Constant Speeds Cm E 16 Stop A RR RNA 17 Read Ofr Write Memory Cmd T 18 Restore Settings NS 18 Set Microstep Resolution Cmd 37 00 ceccccecccecseecesseceeaeceececeeneeceaeesaecseaaeceaceceeeeeeeeeeaeceeaaeneaeeseeeeees 19 Set Running Current CMA ii nO dilata dida 20 Set Hold Current CMA ID ETT 21 Set Device Mode CMA Ar trio 22 Set Home Speed Cd dai A ds cede ee Eh 25 Set Target Speed CMA ciclista 26 Set Acceleration Od A IE a TT 27 Set Maximum Position Cm E T 28 Set Current Position Cad A co 29 Set Maximum Relative Move Cmd AO ooccccccccnncncnonococonococononononononononononcnononcanananananana nono none na narra nana nannns 29 Set Home Ostset l dd E E ARS TA ESA NA bb ks te tz 30 Table of Contents Detailed Command Reference Set Alias Ne aida 31 Set Lock State Cm 49 iii ii eiii 31 Return Device Id Cmd SO TT 32 Return Firmware Version Cmd 5 sss 32 Return Power Supply Voltage Cmd 52 ccccccsscesssecee
37. evice to decelerate to a stop and then send Limit Active Cmd 9 Stop Cmd 23 Instruction Name Stop Applies to T Series motorized devices Move At Constant Speed Cmd 22 17 Firmware Version 5 XX Command Number 23 Command Type Command Command Data Ignored Reply Data Final Position Safe to retry Yes Returns Current Position Yes Persistence n a Summary Stops the device from moving by preempting any move instruction This instruction can be used to pre empt any move instruction The device will decelerate to a stop The reply data is the absolute position after stopping The device will decelerate at a rate specified by Set Acceleration Cmd 43 This command may pre empt or be pre empted by Move to Stored Position Cmd 18 Move Absolute Cmd 20 Move Relative Cmd 21 Move at Constant Speed Cmd 22 and Stop Cmd 23 Read Or Write Memory Cmd 35 Instruction Name Read Or Write Memory Applies to T Series motorized devices Firmware Version 5 XX Command Number 35 Command Type Command Command Data Data Reply Data Data Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Reads or writes a byte of non volatile memory 128 bytes of memory are available for user data For example the user may want to save some custom data such as a serial number a name string or data that un
38. ew Position Reply Data New Position Safe to retry Yes Returns Current Position Yes Persistence Volatile Summary Sets the device internal position counter This command override the internal position counter with a new position value specified by the user The position data is volatile and will not persist after power down or reset The phase of the stepper motor is controlled by the least significant byte of the position thus the device may move by 2 full steps unless the new position corresponds to the true current position of the device This command is useful if you want to turn off the system without losing position Simply save the position in the controlling computer and turn off the hold current Command 39 before powering down After powering up set the position back to the saved value and turn on the hold current In this way you can continue without having to home the device You have to turn off the hold current because when the power first comes on the position will default to the maximum range and that may be out of phase with the motor s current position If the hold current is on 1t will force the motor into phase with the default position before you ve had a chance to restore the current position In Firmware 5 21 and 5 22 the new Current Position must be equal or less than Maximum Position See Set Maximum Position Cmd 44 for more details on range settings and behaviour Set Maximum Relative Move Cmd 46 Inst
39. feel a slight detent in the middle of its rotation Device starts turning as soon as the power is on or amber LED blinks all the time The potentiometer is probably not centered Turn the knob slowly until you feel the center detent Nothing happens when I turn the potentiometer knob Manual control may have been disabled Issue the Restore Settings Instruction command 36 or enable the potentiometer using the Set Device Mode Instruction command 40 either way Nothing happens The device needs to be homed first You must issue the Home Instruction command when I send a move 1 after power up to home the device instruction When I try to move the device it just makes a noise and vibrates There may be too much load that the device is trying to push The actuator stalls in this situation Try removing the load and see if the problem goes away You can achieve higher thrust or torque by lowering the speed of the device using the Set Target Speed Instruction command 42 Stall condition The device makes noise but does not move Try removing all external loads If the device now extends and retracts normally the problem is excessive load Try to reduce the load or change step time and acceleration parameters to ensure the load is less than the maximum thrust If a linear motion device 1s stalled in 1ts fully extended position and remains stalled without any external load applied it means the lead screw has
40. h setting scenario the starting position is denoted by the solid vertical line and the final position is denoted by the dotted vertical line There are four possible moves for each scenario long move positive long move negative short move positive and short move negative The arrows show the path that would be traversed for each scenario Set Home Speed Cmd 41 Instruction Name Set Home Speed Applies to T Series motorized devices Firmware Version 5 xx since 5 20 Returns Current Position Command Number 41 Command Type Setting Command Data Speed Reply Data Speed Safe to retry Yes No Persistence Non Volatile Summary Sets the speed at which the device moves when using the Home command When a home instruction is issued the device will accelerate at a rate determined by the acceleration setting up to the speed determined by this command The home speed can be set independently of target speed command 42 so that for stages that move very fast issuing the home command would use a slower home speed and prevent the stage from crashing into the home position For a spreadsheet that can be used to calculate speed setting values for any product see http www zaber com documents ZaberS peedSetting xls Alternatively you may use the formulas below Actual Speed Data 9 375 M mm s or deg s Data 9 375 microsteps s Set Home Speed Cmd 41 25 Data 9 375 R st
41. iquely identifies a particular device Data written is not cleared by power down or reset The most significant bit of byte 3 specifies whether the instruction is a read 0 or a write 1 The least significant 7 bits of byte 3 specify the address to read write 0 to 127 Byte 4 specifies the value to be written Bytes 5 and 6 are ignored These settings are stored in non volatile memory and will persist after power down or reset Restore Settings Cmd 36 Instruction Name Restore Settings Applies to All Zaber devices except controllers Stop Cmd 23 18 Firmware Version 5 00 and up Command Number 36 Command Type Command Command Data Peripheral Id Reply Data Peripheral Id Safe to retry Yes Returns Current Position NO Persistence INon Volatile Summary Restores the device settings to the factory defaults This command should be issued with a Peripheral Id of 0 to return the device to factory default settings This instruction is very useful for troubleshooting If the device does not appear to function properly it may be because some of the settings have been changed This instruction will restore the settings to default values For a table of default settings see Appendix A All settings affected by this instruction are stored in non volatile memory and will persist after power down or reset Set Microstep Resolution Cmd 37 Instr
42. ive Cmd 9 37 Error Codes Code Name Description 1 Cannot Home Home Device has traveled a long distance without triggering the home sensor Device may be stalling or slipping 2 Device Number Renumbering data out of range Invalid 14 Voltage Low Power supply voltage too low 15 Voltage High Power supply voltage too high 18 Stored Position The position stored in the requested register is no longer valid This is probably Invalid because the maximum range was reduced 20 Absolute Position Move Absolute Target position out of range Invalid 21 Relative Position Move Relative Target position out of range Invalid 22 Velocity Invalid Constant velocity move Velocity out of range 36 PPeripheral Id Invalid Restore Settings peripheral id is invalid Please use one of the peripheral ids listed in the user manual or 0 for default 37 Resolution Invalid Invalid microstep resolution Resolution may only be 1 2 4 8 16 32 64 128 38 Run Current Invalid Run current out of range See command 38 for allowable values 39 Hold Current Invalid Hold current out of range See command 39 for allowable values 40 Mode Invalid Set Device Mode one or more of the mode bits is invalid 41 Home Speed Invalid Home speed out of range The range of home speed is determined by the resolution 42 Speed Invalid Target speed out of range The
43. mmand is finished the device will immediately move to the new position This command may pre empt or be pre empted by Move to Stored Position Cmd 18 Move Absolute Cmd 20 Move Relative Cmd 21 Move at Constant Speed Cmd 22 and Stop Cmd 23 Move To Stored Position Cmd 18 15 Move Relative Cmd 21 Instruction Name Move Relative Applies to T Series motorized devices Firmware Version 5 xx Command Number 21 Command Type Command Command Data Relative Position Reply Data Final Position Safe to retry No Returns Current Yes Position Persistence n a Summary Moves the device by the positive or negative number of microsteps specified in the Command Data The device moves to a position given by its current position plus the value specified in the command data The relative move command data in microsteps can be positive or negative The final position must be between 0 and Maximum Position specified by Set Maximum Position cmd 44 or an error code will be returned The device begins to move immediately and sends a response when the move has finished The target speed and acceleration during a move absolute instruction can be specified using Set Target Speed Cmd 42 and Set Acceleration Cmd 43 respectively All move commands are pre emptive If a new move command is issued before the previous move command is finished the device will immediately move to the new posi
44. nceceseeceeeeeceeessaeceeaeeseaeeceeeesaeeeeaecseaeceeaeeenaees 33 SO R ETT 33 Rett Status G m4 TTT 34 Echo Data CMI a Ss len RO SUE Lal bk SaaS At 34 Return Current Position Cmd l coconcccononnononcnnccnncnnonononeninccnnanononannononccnccnncanananonononconnncacananonnenos 35 CANA O 36 Move Tracking E 36 Limit Active Cmd 9 sentences delice he eA as 36 Manual Move Tracking Cmd 10 00 ceeccceccccesccessseeenseceeaceceaeeceeeecseceesaeceeaeeseaeeceseeeeaeessaecseaeceeaeeensees 37 EN n ROA EA CmGi2 99 atv at Ut ds Tc CIN eee OC Cation tt Be BE Beato 37 EMOL Codes e okies sds lek cet lot ovale been REA E ao A 38 Main tal Control O cooedesevsesacseeed 40 TED AUT CE O EEAO A E EE E EEE EE NEEE EIEEE O AE EE AE 41 Troubleshooting T Series Motion DeVices ssscssssccsssscssssssssssssescssssssscccssssessessssasssssssssssssssssnesssssescees 42 AMESA B 122 E E E E E E ENE E E EE N EE 46 Standard Products sor eai a i n E E E a 46 CUSTOM Te CTT 46 Ho w toret rn products e neii e yeddca tobi sctevache cata anes eea ai ea En a debeabe Bleweliaces 46 Email UPd E LHH THT 47 AOS RT 48 Appendix A DefaulltSettin gs sess cscccccccscscscsisecssesscsveasionsocsacevessecensecesdesocescsndectnnssesshevsedsbesesesbessaves ontessnecdsensees 49 Appendix ARS O A A 50 Comparison TLA Series ici ii 52 Disclaimer Zaber s devices are not intended for use in any critical medical aviation or military applications or si
45. o command bytes to send to Zaber products If Cmd_Data lt 0 then Cmd_Data 256 4 Cmd_Data Cmd_Byte_6 Cmd_Data 256 3 Cmd_Data Cmd_Data 25673 Cmd_Byte_6 Cmd_Byte_5 Cmd_Data 256 2 Cmd_Data Cmd_Data 256 2 Cmd_Byte_5 Cmd_Byte_4 Cmd_Data 256 Cmd_Data Cmd_Data 256 Cmd_Byte_4 Cmd_Byte 3 Cmd_Data Converting reply bytes into a single reply data value Reply_Data 256 3 Rpl_Byte 6 25672 Rpl_Byte_5 256 Rpl_Byte_4 Rpl_Byte_3 If Rpl_Byte_6 gt 127 then Reply_Data Reply_Data 256 4 Sample Waveforms If you are designing hardware to interface with Zaber products it may be useful to see some sample waveforms This image shows an instruction top waveform and a reply bottom waveform This is a closeup of the instruction bytes Note that the voltage swing of the instruction waveform is about 10V This is typical of the USB to RS232 converter to which the device is connected The instruction bytes are 0 51 0 0 0 0 indicating the instruction Device All Command Return version Data 0 Examples 8 This is a closeup of the instruction byte 2 The S on either end represents the start and stop bits respectively The start bit is always positive and the stop bit is always negative The bit sequence is Start 0 1 2 3 4 5 6 7 Stop The data is output with the least significant bit first so the byte shown is actually 00110011 in binary or 32 16 2 1 51 in decimal
46. on When you send an instruction to an alias number all devices with that alias number will execute the instruction and reply using their actual device numbers To remove an alias simply set the device s alias number to zero Valid alias numbers are O to 99 for version 6 05 and O to 254 otherwise To avoid confusion 1t is best to choose an alias greater than the number of devices connected This setting is stored in non volatile memory and will persist after power down or reset Set Lock State Cmd 49 Set Lock State T Series devices Instruction Name Applies to Firmware Version 5 xx since 5 07 Command Number 49 Command Type Setting Command Data Lock State Reply Data Lock State Safe to retry Yes Returns Current Position No Non Volatile Locks or unlocks all non volatile settings Persistence Summary Sometimes it is desirable to lock all non volatile settings to prevent them from being changed inadvertently After changing all settings as desired settings can be locked by setting the Lock State to 1 Subsequent attempts to change any non volatile setting e g Set Target Speed command 42 will result in an error response with an error code of 3600 settings locked Note that the Set Lock State command does not apply to commands and settings that are specific to the joystick Load Event Instruction and Set Axis Device Number for example are unaffected by the Lock State Ho
47. onsult the appropriate PDF user s manual T Series Manual 2xx PDF T Series Manual 4xx PDF Due to the addition of new features newer versions of firmware may not be 100 backward compatible You may wish to read the document Firmware History and Migration which outlines the changes that have taken place from one firmware version to the next and indicates what options are available if you wish to upgrade or downgrade the firmware on your devices Reset Cmd 0 Instruction Name Reset Applies to All Zaber devices Firmware Version 5 00 and up Command Number U Command Type Command Command Data Ignored Reply Data None Safe to retry Yes Returns Current Position No Persistence n a Summary Sets the device to its power up condition This has the same effect as unplugging and restarting the device Special Note The position stored in the device prior to this command will be lost so you must save it and reload it if it is important All non volatile settings 1 e Device Number Target Velocity etc are saved and are not affected by reset or power down Home Cmd 1 Instruction Name Home Applies to T Series motorized devices Firmware Version S xx Command Number 1 Detailed Command Reference 12 Command Type Command Command Data Ignored Reply Data Final Position Safe to retry Yes Returns Current Position Yes Persis
48. ot send replies but otherwise works If you encounter the problem when trying to control the device with your own software try using a demo program from our website to verify that the hardware is functioning properly Make sure that the receiving part of your code or commercial package is correct Check baud rate etc Check connectors for bent or broken pins The device sometimes returns fewer than 6 bytes This problem usually indicates a problem with the settings for your serial port Some serial ports are set to automatically recognize and remove specific control characters such as carriage returns when they appear in the RS232 receive buffer When this happens it appears as though the device has not sent enough bytes but really the controlling computer has just removed some before you could read them You will need to change the serial port settings to fix the problem Poor repeatability or the device does not extend or retract smoothly or makes louder than normal noise during travel You may be skipping steps When skipping the device will lose position in increments of 4 full steps not microsteps This condition happens if the thrust needed is more than the thrust available from the device Check that the force on the device is less than the maximum thrust Check the voltage using the voltage command Voltage less than the rated or recommended voltage will reduce the device s maximum thrust Try a slower target velocit
49. ou did not add one to your order you will require a power supply that matches the voltage requirement of the device Some T series products usually devices that run on 12 16 V transmit power between devices through the data cables The chosen power supply must be rated to handle the maximum total current draw of all devices connected to it When powering long chains of devices we recommend connecting a power supply to at least every 3rd device in the chain to reduce the current through the data cables Devices that run on more than 16 V do not transmit power through the data cables Once you have a working power supply you can test the operation of your device Try turning the potentiometer if applicable counterclockwise to home the device When operating manually you should home the device by retracting it completely every time you disconnect or turn off the power You will not be able to achieve the maximum travel until you have homed the device or sent a command to tell the device its current position After the device retracts completely it will stop automatically and you can turn the potentiometer clockwise to move the device If you have a model without a potentiometer you cannot control the device manually Instead you must connect the device to a computer and issue a home instruction Initial Setup and Testing 3 Installation Connection to a Computer Connect the device to a computer as follows 1 Either plug the Mini DIN to D S
50. pply voltage is too high Turning the potentiometer causes no motion Troubleshooting T Series Motion Devices You may be at the end of travel This can happen due to missed steps even if the device does not appear to be fully extended Turn the knob the other way If the device makes noise but does not move you may be in a stall condition especially if the device 43 appears to be fully extended See Stall Condition below The amber light should blink when turning the knob if not try turning the power off and then on again You may also have set the Target Velocity command 42 so low that it doesn t produce any visible motion Try using command 36 to reset the device to default settings and try again The amber light comes on briefly when sending a command but the device does not move and does not return codes Check baud rate hand shaking parity stop bit etc Make sure that your software does not transmit any control characters like line feed spaces or something else The device numbers may not be what you think they are Issue a renumber command make sure that the computer does not transmit anything else while the devices renumber Check that you transmit 6 bytes and that the device number and command are valid If you encounter the problem when trying to control the device with your own software try using one of the demo programs from our website to verify that the hardware The device does n
51. ruction Name Set Maximum Relative Move Applies to T Series motorized devices Firmware Version 5 xx Command Number 46 Command Type Setting Command Data Range Set Current Position Cmd 45 29 Reply Data Range Safe to retry Yes Returns Current No Position Persistence Non volatile Summary Sets a limit on the number of microsteps the device can make for a Relative Move command Use this command to limit the maximum range of travel for a relative move command For example if maximum relative move is set to 1000 and the user requests a relative move 21 of 800 then the device will move 800 microsteps However if the user requests a relative move of 1200 then the device will reply with an error code Most applications can leave this unchanged from the default This setting is stored in non volatile memory and will persist after power down or reset Set Home Offset Cmd 47 Set Home Offset T Series motorized devices Instruction Name Applies to Firmware Version S XX Command Number 47 Command Type Setting Command Data Offset Reply Data Offset Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Sets the the new Home position which can then be used when the Home command is issued When the home command is issued the device will retract until the home sensor is triggered then mov
52. s ordered to move at constant speed zero Manual Move Tracking Cmd 10 Instruction Name Manual Move Tracking Applies to T Series motorized devices Firmware Version 5 XX Command Number 10 Command Type Reply Command Data n a Reply Data Position Safe to retry Yes Returns Current Position Yes Persistence n a Summary A reply that is sent when the manual control knob is turned Manual Move Tracking has been enabled see Set Device Mode Cmd 40 and the device has been moved manually the knob is turned In this mode the device sends this reply every 0 25 seconds updating the current absolute position in microsteps during any move Error Cmd 255 Instruction Name Error Applies to T Series motorized devices Firmware Version 5 XX Command Number 255 Command Type Reply Command Data n a Reply Data Error Code Safe to retry Yes Returns Current Position No Persistence n a Summary Indicates to the user that an error has occurred This reply indicates that an error has occurred The error code returned in the data indicates the type of error The device may send an error code as a reply to an invalid instruction or it may autonomously send an error code as a triggered reply 1 e not in response to an instruction The error code is typically the command number of the instruction that caused the error but not always Limit Act
53. st byte is the device number in the daisy chain Device number 1 is the closest device to the computer and device number 2 is next and so on If the number 0 is used all the devices in the chain will process the accompanying command simultaneously The second byte is the command number Bytes 3 4 5 and 6 are data in long integer 2 s complement format with the least significant byte transmitted first How the command data are interpreted depends on the command Complete details are given in the command reference on the following page Examples e All devices renumber 0 2 0 0 0 0 e All devices home 0 1 0 0 0 0 e All devices return firmware version 0 51 0 0 0 0 e Device 1 move to an absolute position command 20 of 257 microsteps 1 20 1 1 0 0 e Device 2 move to a relative position command 21 of 1 microstep 2 21 255 255 255 255 Control Through The RS 232 Serial Port 7 Most instructions cause the device to reply with a return code It is also a group of 6 bytes The first byte is the device Byte 2 is the instruction just completed or 255 OxFF if an error occurs Bytes 3 4 5 and 6 are data bytes in the same format as the instruction command data Data Conversion Algorithms If you are writing software to control Zaber products you ll likely need to generate data bytes 3 through 6 from a single data value or vise versa The following pseudo code can be used as a model Converting command data int
54. t whole number The only exception to this is if acceleration would become 0 because 0 for acceleration indicates infinite acceleration If acceleration would become 0 it will instead be set to 1 which is the lowest acceleration possible Set Running Current Cmd 38 Instruction Name Set Running Current Applies to T series motorized devices excluding T LSO T LST T MCA Firmware Version S xx Command Number 38 Command Type Setting Command Data Value Reply Data Value Safe to retry Yes Returns Current Position No Persistence Non Volatile Summary Sets the desired current to be used when the device is moving If your application does not require high torque it is best to decrease the driving current to reduce power consumption vibration and motor heating Trial and error should suggest an appropriate setting If higher torque is required it is generally safe to overdrive motors as long as they are not operated continuously Motor temperature is typically the best indication of the degree to which overdriving can be employed If the motor gets too hot to touch gt 75 C you should reduce the running current The current is related to the data by the formula Current CurrentCapacity 10 CommandData The range of accepted values is O no current 10 max 127 min CurrentCapacity is the hardware s maximum capability of output current To prevent damage som
55. tence n a Summary Moves to the home position and resets the device s internal position Upon receiving this instruction the device will retract until its internal home sensor is triggered It will then move forward several steps to avoid accidentally re triggering the home sensor during use Its internal position is then reset to O for most devices If a home offset has been specified with the Set Home Offset cmd 47 instruction the device will move forward for the specific offset then reset the internal position Prior to Firmware 5 21 the device will attempt to home for an extended amount of time For Firmware 5 21 and up the home command aborts with an error if the device has traveled twice the Maximum Position setting without triggering the home sensor This indicates that the device could possibly be stalling or slipping Renumber Cmd 2 Instruction Name Renumber Applies to All Zaber devices Firmware Version 5 00 and up Command Number 2 Command Type Command Command Data New Number Reply Data Device Id Safe to retry Yes Returns Current No Position Persistence Non Volatile Summary Assigns new numbers to all the devices in the order in which they are connected This command is usually sent to device number 0 When it is the command data is ignored and all devices will renumber The device closest to the computer becomes device number 1 The next device becomes number 2
56. ti backlash and anti sticktion below bit_2 Enable Anti sticktion Routine A value of 1 enables the anti sticktion routine On moves less than 640 microsteps assuming 64 microsteps step the device will first retract to a position 640 microsteps less than the requested position and approach the requested position from below Care must be taken not to crash the moving payload into a fixed object due to the 640 microsteps negative move The default value is 0 on all devices See section on anti backlash and anti sticktion below this table bit_3 Disable Potentiometer A value of 1 disables the potentiometer preventing manual adjustment of the device The default value is O on all devices bit_4 16 Enable Move Tracking A value of 1 enables the Move Tracking response during move commands The device will return its position periodically every 0 25 sec when a move command is executed The Disable Auto Reply option above takes precedence over this option The default value is O on all devices Before firmware version 5 14 only Move at Constant Speed commands could generate tracking responses now all move commands can bit_5 32 Disable Manual Move Tracking A value of 1 disables the Manual Move Tracking response during manual moves The Disable Auto Reply option above takes precedence over this option The default value is 0 on all devices bit_6 64 Enable Message Ids A value of 1 enables Message
57. tion If a Move Relative command is issued while the device is currently moving due to a previous command the device will immediately set a new target position equal to the current position at the instant the command was received plus the specified relative position This command may pre empt or be pre empted by Move to Stored Position Cmd 18 Move Absolute Cmd 20 Move Relative Cmd 21 Move at Constant Speed Cmd 22 and Stop Cmd 23 Move At Constant Speed Cmd 22 Instruction Name Move At Constant Speed Applies to T Series motorized devices Firmware Version 5 XX Command Number 22 Command Type Command Command Data Speed Reply Data Speed Safe to retry Yes Returns Current Position No Move Relative Cmd 21 16 Persistence n a Summary Moves the device at a constant speed based on the value specified in the Command Data This instruction specifies a direction and a speed to move rather than a target position When this instruction 1s issued the device will accelerate at a rate determined by command 43 Set Acceleration to the speed specified by the instruction data The device will continue moving at this speed until a limit is reached or a pre empting instruction is issued Negative speeds cause retraction while positive speeds cause extension Unlike the other movement commands this command sends a response immediately without waiting for the move to finish The
58. to All Zaber devices Firmware Version 5 04 and up Command Number 55 Command Type Command Command Data Data Reply Data Data Safe to retry Yes Returns Current Position No Persistence n a Summary Echoes back the same Command Data that was sent This command is useful for testing communication similar to a network ping Return Status Cmd 54 Return Current Position Cmd 60 Instruction Name Return Current Position Applies to All motorized devices Firmware Version 5 00 and up Command Number 60 Command Type Read Only Setting Command Data Ignored Reply Data Position Safe to retry Yes Returns Current Position Yes Persistence n a Summary Returns the current absolute position of the device in microsteps This is equivalent to issuing a Return Setting 53 command with a command data value of 45 Set Current Position Return Current Position Cmd 60 35 Reply Only Reference In general a Zaber device will reply to an instruction using the same command number as the instruction itself However there are occasions such as when the user turns a manual control knob when the device may transmit data without first receiving a request from the controlling computer This type of reply may be considered to be a triggered reply as opposed to a requested reply In this case the device uses a reply only command number to distinguish the reply from those requeste
59. to be the zero position If the device lhas missed steps due to a previous stall condition or if the device has been set to an incorrect position the device may incorrectly believe it is at the zero position You can solve the problem by issuing the home command or by turning the device on and off and manually homing it Troubleshooting T Series Motion Devices 44 The device does not It can be challenging to track down problems in a complicated script or other software behave as expected In addition to the standard techniques of debugging any software it s also helpful to see when software sends exactly what bytes are being sent and received on the serial port There are several tools it a series of available to display the raw data from a serial port and stackoverflow com has a list of commands some Troubleshooting T Series Motion Devices 45 Warranty and Repair For Zaber s policies on warranty and repair please refer to the Ordering Policies 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 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 D
60. tuations 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 from the use of our products Disclaimer Precautions Zaber s motion control devices are precision instruments and must be handled with care In particular moving parts must be treated with care Avoid axial loads in excess of the rated thrust load axial and radial impact dust and other contaminants and damage to the leadscrew thread These will reduce the performance of the device below stated specifications Special Note The plunger should always be left in the fully retracted position home when not in use Lubrication Performance depends very much on the condition of the leadscrew so the leadscrew should be cleaned periodically for best results To clean the screw first use isopropyl alcohol to dissolve old grease and contaminants There are plastic components that may be damaged by some strong solvents Apply a small amount of grease The grease will reduce friction backlash and sticktion We use NyeClean 5077 vacuum grease available from www nyelubricants com A similar grease with a compatible thickener and lubricant are also suitable Precautions 2 Initial Setup and Testing If you are unfamiliar with T series devices you may wish to perform a few simple steps to familiarize yourself with their operation First you will need a power supply If y
61. ub serial adaptor DSUB9 into your computer s serial port or the Mini DIN to USB adapter T USBDC into one of your computer s USB ports then plug the device s data cable into the adaptor For the USB adaptor new computers will often be able to install the necessary drivers automatically when the cable is plugged in for the first time If the computer reports that the driver installation was unsuccessful you can download the drivers for Windows Mac or Linux here Installation instructions and troubleshooting information are available for each operation system here You may need to use a cable extension to reach your computer There is no need to power down or reboot the computer 2 Connect the power plug of your power supply to the power connector of the device figure 2 If present the green LED should light up indicating the device has power some devices may not have LEDs 3 If your device comes with a knob for manually adjusting the actuator s position set the knob to the neutral position between forward and backward At this point you will feel a slight detent and the yellow light if present will turn off For the device to receive computer commands the manual knob must be in the neutral position 4 Additional devices can simply be daisy chained to the first figure 3 For long chains of devices that daisy chain power a power supply should be connected at every 2nd or 3rd device A renumber command needs to be issued after a
62. uction Name Set Microstep Resolution Applies to T Series motorized devices Firmware Version 5 xx Command Number 37 Command Type Setting Command Data Microsteps Reply Data Microsteps Safe to retry Yes Returns Current Position NO Persistence Non Volatile Summary Changes the number of microsteps per step This command sets the microstep resolution of a device This setting is stored in non volatile memory and will persist after power down or reset Use Restore Settings Cmd 36 to restore all non volatile settings to factory default The default on most devices is 64 Available microstep resolutions are 1 2 4 8 16 32 64 128 All position data sent to or received from T Series products is in units of microsteps Note that when you change the microstep resolution other position related settings are scaled automatically from current values to adjust for the new microstep size The table below gives an example showing how other settings are affected when the microstep resolution is changed from 128 to 64 Setting Before After Restore Settings Cmd 36 19 Target Speed 2922 1461 Maximum Travel Range 280000 140000 Current Position 10501 5250 Maximum Relative Move 20000 10000 Home Offset 1000 500 Acceleration 100 50 The settings for these commands are saved in non volatile memory Note that if a number is divided by two it is rounded down to the neares
63. up to date email contact information The original instructions for this product are available at http www zaber com wiki Manuals T LA Contact Information 48 Appendix A Default Settings Please see the Zaber Support Page for default settings for this device Appendix A Default Settings 49 Appendix B Device Specifications For complete device specifications for T LA actuators please see our website Appendix B Device Specifications 50 Specification Microstep Size Default Resolution Integrated Controller Repeatability Backlash Maximum Speed Minimum Speed Speed Resolution Encoder Type Peak Thrust Maximum Continuous Thrust Communication Interface Communication Protocol Maximum Current Draw Power Supply Power Plug Motor Temperature Rise Linear Motion Per Motor Rev Motor Steps Per Rev Motor Type Inductance Default Resolution Data Cable Connection Mechanical Drive System Limit or Home Sensing Axes of Motion Mounting Interface Vacuum Compatible Operating Temperature Range RoHS Compliant Appendix B Device Specifications Value 0 09921875 um Yes lt 4 um lt 6 um 4 mm s 0009302 mm s 0009302 mm s None 25 N 15N RS 232 Zaber Binary 300 mA 12 16 VDC 2 1 mm centre positive 75 degrees C 0 3048 mm 48 Stepper 2 phase 55 mH phase 1 64 of a step Minidin 6 Alternate Unit lt 0 000157 lt 0 000236 0 157 s 0 00004 s 0 00004 s 5
64. uring 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 46 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 47 Contact Information Contact Zaber Technologies Inc by any of the following methods Phone 1 604 569 3780 direct 1 888 276 8033 toll free in North America Fax 1 604 648 8033 Mail 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 Web www zaber com Email Please visit our website for
65. w the Restore Settings instruction behaves when the settings are locked depends on the firmware version In version 5 07 issuing a Restore Settings instruction while the settings are locked will result in an error Set Alias Number Cmd 48 31 response with an error code of 3600 settings locked This behavior was found to confuse many customers so in version 5 08 and up the behavior was changed such that regardless of the current lock state issuing a Restore Settings instruction will always return setting values to factory default values and leave settings in an unlocked state Settings can also be unlocked by setting the Lock State to 0 Return Device Id Cmd 50 Instruction Name Return Device Id Applies to All Zaber devices Firmware Version 5 00 and up Command Number 50 Command Type Read Only Setting Command Data Ignored Reply Data Device Id Safe to retry Yes Returns Current Position No Persistence n a Summary Returns the id number for the type of device connected See the Zaber support web site for a table of device ids for all Zaber products Return Firmware Version Cmd 51 Instruction Name Return Firmware Version Applies to All Zaber devices Firmware Version 5 00 and up Command Number 51 Command Type Read Only Setting Command Data Ignored Reply Data Version Safe to retry Yes Returns Current Position NO Persistenc
66. y command 42 as stepper motors produce more thrust when moving slowly Lead screw conditions greatly affect the performance of linear motion devices Dirt damaged threads no grease or too heavy grease will degrade performance and may contribute to a stall A black residue appears on the lead screw after extended use This can increase friction and reduce thrust Clean the screw and re grease it In general if you try to move a large payload or have a large static axial load like lifting something vertically you will have more problems For vertical motion the use of a counterweight spring or rubber band can help reduce the static load and improve the performance of the device The default value of the acceleration and target velocity are good for small to medium loads and medium speeds For very light loads and higher speeds or heavy loads at lower speeds these parameters can be tuned Trial and error is the best tuning technique The device has repeatability errors smaller than 4 full steps If you re not skipping steps friction may still cause some variation when returning to a position Depending on the exact cause there are a couple of device modes that can reduce these errors See the Set Device Mode command s sections on the anti backlash and anti sticktion routines A linear motion device extends and retracts smoothly but will not retract to the home zero position The device will not retract below what it believes

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