T-LSR Product User's Manual Firmware 5.00 and up Last Update
Contents
1. If sent to device number 0 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 and so forth If sent to a device number other than 0 then specified device will reassign itself the device number in the command data 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 Store Current Position Cmd 16 Instruction Name Store Current Position Firmware Version 5 04andup Command Number Command Data Address Home Cmd 1 13 Reply Data Returns Current Position JNo Persistence Non Volatile Summary Saves the current absolute position of the device Valid Address values are 0 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 Command Type Command Returns Current Po2. Special Note 22 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 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 Reserved Enable Circular Phase Microstepping Square phase microstepping is employed by default A value of 1 enables circular phase microstepping mode The differences are Circular Phase constant torque smoothest operation better microstep accuracy only 7046 torque and lower power consumption Square Phase non constant torque less smooth operation poorer microstep accuracy e 100 torque achieved and higher power consumption Reserved Reserved Disable Power LED A value of 1 turns off the green power LED It will still blink briefly immediately after 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 t
3. Cm GA 5 35 4a oe I oett es a e eR Eier rV a EA a aa 26 Set Maximum Relative Move Cmd AG no nono none ncn nono no nnnnononononononoconanonanenos 27 Set Home Ofiset CO c 27 Set Alias Number Cd 48 1 ei a ei A a es 28 set I ock State SGmd AO ie a o 29 Table of Contents Detailed Command Reference Return Device dao 29 Return Firmware Version Cmd Dl oooonncncnncnnnnnnnnicoccncncnnononeneneninoconnnonononanarocononnnnononnnaninococccnnononenininons 30 Return Power Supply Voltage Cmd 32 esses enne na ant eieiei enne 30 Return Settings Cid 53 7 eco ae eis Side Men ise eee aes 30 Return Status End dat sa 31 Echo Data E mda At a tete cett eoe oie Ee reves tbe dae JE G d kan echa 31 Return Current Position Cmd 60 ceccceccccccccccessssccscccecccessessessuscecessssessusesssescesesesseuseaseeesess 32 BAE Cid 253 56 eee e et tate sah g a dua cad val ean ss Sa URSO A UNO USA UU e taa LC 32 Error Codes for Motion ProductS cccocccoonccccnccnccnononanicoconcnnnnononenenenononocnnononnnnnnronoccnnononanananinicannnes 33 CONAN 35 Move Tracking Cmd enra ai e ea eE STEDE TE pe REPORTE data desd 35 Eifnit Active Cm A ee en Re ie eee 35 Manual Move Tracking Cmd 10 0 0 ecer ieie iea iE E E a E a A i a i a eee 36 Manual Control NN 37 LED f nctl0ns TN 38 Troubleshooting Motion
4. bit 10 is reserved and must be 0 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 for Motion Products 34 Reply Only Reference In general a T series 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 the potentiometer 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 requested by the controlling computer The meanings of these replies and their corresponding data are given below Move Tracking Cmd 8 Firmware Version 5 00 and up Command Number 8 Command Type Reply Command Data Command Data dwa Reply Data Persistence n a position tracking mode and given a move instruction The device has been set to position tracking mode see Set Mode instruction and 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 Firmware Version ommand Number ETA ommand T
5. 2 99 mil T LSR300D 80 mm s 3 150 in s 40 N 9 0 Ib 40 N 9 0 Ib lt 76 um lt 2 99 mil gt N N N T LSR150B 20 mm s 0 787 in s 200 N 44 9 lb N 22 4 lb lt 50 um lt 1 97 mil N N N N 001 001 001 001 T LSR150D 80 mm s 3 150 in s A0 N 9 0 lb 40 N 9 0 Ib 50 um lt 1 97 mil 001 001 001 001 1 T LSR450A l4 mm s 0 157 in s 300N 673 1b 100N 224 Ib 200 um 7 87 mil T LSR450B 20 mm s 0 787 in s 200N 44 9 Ib 100N 22 4 Ib 200 um 7 87 mil T LSR450D 180 mm s 3 150 in s 40 N 9 0 Ib 40 N 9 0 Ib 200 um 7 87 mil TLSRISA O IT LSRISB TISRTSD LSRISQA Comparison T LSR Series 50 T LSR150B 6 35 mm 0 250 in 351 mm 13 819 in T LSR150D 25 4 mm 1 000 in 351 mm 13 819 in T LSR300A 1 27 mm 0 050 in 501 mm 19 724 in TLSR300D LSRASQA IT LSRASOB TLSR450D T LSR300B 6 35 mm 0 250 in 501 mm 19 724 in Comparison T LSR Series 51
6. 26 Returns Current Position Yes Volatile Sets the the internal register that holds the position to the value specified in the command data 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 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 The position data is volatile and will not persist after power down or reset Set Maximum Relative Move Cmd 46 Instruction Name Set Maximum Relative Move Firmware Version 5 00 and up ommand Number Command Type Setting Command Data Range Reply Data 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 ma
7. Command Data Reply Data None Returns Current Position JNo 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 Firmware Version 5 00andup Command Number Detailed Command Reference 12 Command Type Command Data Ignored Reply Data Final Position Returns Current Position Persistence Summary Causes a motion control device to back up to the home position and reset its internal position to 0 Upon receiving this instruction a motion control device will retract until its internal home sensor triggers It will then move forward several steps to avoid accidentally re triggering the home sensor during use If a home offset has been specified with the Set Home Offset command 47 instruction the device will extend the additional distance specified It will then stop and reset its internal position register effectively setting the final position to 0 Renumber Cmd 2 Firmware Version 5 00 and up ommand Number ommand Type ommand Data Reply Data Persistence Summary Assigns new numbers to all the devices in the order in which they are connected
8. Devices eee e eere eee eee eren eee to store etta aestas eee seco ss seo soares secos eco co seco see s eaae seen ee 39 Warranty and Repalr eee reee ttov eee ree eee en st sines aoo de aee ee tas isn Eu ere ee ee eene e besig VPE p esee coe eee a Gere aos Lu vene races anuo 43 Standard produ is ii T tete te eren e E PU p AA Ere he da TE 43 Custom products en p E ERR EIE EIN U RESP PERENNE MER EEOSE ETE Ani Re Eee PITE be RV 43 How t return prOduct esse Nien houses e AT a aaa 43 E ERN 44 Contact Information ee sevesesscescasiceusesesonseeeesoscosssesesa NOR E oaeo sase sseasesesoesesvescs bosnesesadosiecsconsesssseseevesesess esos 45 Appendix A Default Settings ccciiscccsscossssssoncssessessseesasncenesacsenasseonss seasccnesecnassececssncssscsedenessonassnscesesssoneacesseasenee 46 Appendix B Device Specifications cccssscssssssssscsssssssscssesssssssssssecssssssssscssessssssessssssssssssssscssssssssssnsssscees 47 Group Specifications T LSR SEES iei iiiei torri sk gosti erbe host eee HER RE an eH Eye re EE a 48 Comparison T E SR S ries oo e Hte ete e e i II 49 Disclaimer Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where a product s malfunction or failure could cause personal injury death or damage to equipment Zaber disclaims any and all liability for injury or other damages resulting from the use of
9. Specific Information to determine the linear distance corresponding to a single step or revolution Move Relative Cmd 21 16 The maximum Data allowable is 512 R Note that although the maximum data allowable depends on the resolution the maximum speed possible is independent of the resolution This can be seen by substituting Data 512 R into the second formula above giving a maximum speed regardless of resolution of 4800 steps sec The device may be set to return its position continuously during the move using the set mode command 740 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 This command may pre empt or be pre empted by commands 18 20 21 22 and 23 Stop Cmd 23 Command Number 23 Data Final Position sss Position Rma cs the device from moving by preempting any er a This instruction can be used to pre empt any move instruction The device will decelerate at a rate determined by command 43 Set Acceleration and stop The reply data is the current absolute position This command may pre empt or be pre empted by commands 18 20 21 and 22 Read Or Write Memory Cmd 35 Command Number Move At Constant Speed Cmd 22 17 128 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
10. 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 1f you have trouble communicating with the device Important The first time you connect a device to your computer you must issue a renumber instruction to assign each device a unique identifier you must issue a renumber instruction 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 T
11. our products Disclaimer Precautions Zaber s linear stages can produce enough force to cause personal injury Be careful not get to body parts caught between the moving carriage and the end plates of the stage Make sure that no loose clothing gets caught in the rotating lead screw Precautions 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 you ordered one with your device you shouldn t have any problems If not you will require a power supply with output voltage between 12 and 16V We recommend a 15V power supply for best performance The power input accepts a standard 2 1mm center positive connector The chosen power supply must also 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 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 must 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 After the device retracts completely it will
12. 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 2 n bit 31 2431 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 O except for bit 3 disable potentiometer bit 14 disable power LED and bit 15 disable serial LED The Set Device Mode instruction should be sent with data calculated as follows Command Data 2423 2 214 2 215 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 Set Device Mode Cmd 40 21 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
13. 740 910098 Maximum Relative Move Home Offset hue m p b p IE Antibacklash Distance Notes The device Id is not user configurable It can however be returned using command 50 Aliases are not reset to O by command 36 To set an alias back to 0 you must use the set alias command 48 Antibacklash and Antistiction distances are not user configurable Appendix A Default Settings 46 Appendix B Device Specifications For complete device specifications for T LSR actuators please see our website Appendix B Device Specifications 47 Group Specifications T LSR Series Specification Maximum Centered Load Maximum Cantilever Load Guide Type tage Parallelism Power Suppl Power Plu Maximum Current Draw Motor Steps Per Rev ntegrated Controller Controller Resolution Data Cable Connection Mechanical Drive System Limit or Home Sensin Manual Control Axes of Motion Power and Com LEDs Mounting Interface Overall Width Overall Height tage Length tage Width Stage Height Compatible Products Alternate Unit Minidin 6 M F M6 threaded holes and 8 32 threaded holes T LS Motorized Stages TSB Manual Translation Stages Group Specifications T LSR Series Operating Temperature Range Oto 75 degrees ___ i Compliant f Compliant version available Part Microstep Size Default Microstep Size Finest Resolution Resolution Range 0 04960938 um 0 00195 mil 450 mm 17 717 in 68 u
14. RS 232 Serial Port 6 If you are using Zaber s demo software you will only see 3 entry fields Device Command and Data The Device and Command fields accept unsigned integer values while the value you enter into the Data field can be signed The value in the data field is converted by the software to 4 separate bytes and then gets sent to the device 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 t 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 into command bytes to send to Zaber products If Cmd Data 0 then Cmd Data 256 4 Cmd Data Cmd Byte 6 Cmd Data 256 3 Cmd Data Cmd Data 256 3 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 6 256 2 Rpl Byte 5 256 Rpl Byte 4 Rpl Byte 3 If Rpl Byte 6 gt 127 then Reply Data Reply Data 256 4 Data cable wiring diag
15. T LSR Product User s Manual Firmware 5 00 and up Last Update July 15 2009 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 O REEL e SA a a a a a a aa a da aa sa Qn 1 Precat rios 2 Initial Setup and TeStin gy sisssscsccssiccsssessnssooscessentscnsscsscecssncdssoassbennsseneisesesesnscosecessecsdsesssnsssencondaesdasessbesesssssbeossee 3 DELE LE VA A E E A E NEA E SS E AOA AT 4 Connectionto COMPULER reiri te EEE ENE ENEE EEE EEEE EE c EE po 4 Physical Install 18 L 4 DU LO nip DE 4 GTO Mit cr e ea P pe E cena 5 Control Through The RS 232 Serial Port 1 e eee ee eee ee eren ee eee ee ee ee estote etna estan ccncccccono conse setas essen seas 6 Exampl s 554 a A f a fl ei io ie ea 6 Data Conversion Algorithms esses eene enne enne ennt anna intent enn eterne eese e nens 7 Data Cable Witing diagram iue emet na tete a t erbe etes Ee eee ode egeta eee nae Wes 7 sample Waveforms ii tere EID ide rete eet e ER PETRO Y RE S EN ST 8 Quick Command Reference ecce eku euo eoe Fera en Fo Sees epe p Ve en sa kesa asa acesa Fe sS es epe ae ve nde Vo un suere Unsere UR secos 10 Detailed Command Referenrce sscccsssscccssssscscessccssssscccssssccccssscccesssccessnacecessnsccessnaccccenecescsssaccesssscecessnes 12 Reset Cmd Ossos ai a ET HIR 12 Special Not
16. a table of default settings Bit_n Description 1 Disable Auto reply A value of 1 disables ALL replies except those to return commands commands 50 and higher The default value is O on all devices 2 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 O on all devices See note on anti backlash and anti sticktion below 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 O on all devices See section on anti backlash and anti sticktion below this table Disable Potentiometer A value of 1 disables the potentiometer preventing manual adjustment of the device The default value is O on all devices Enable Move Tracking A value of 1 enables the Move Tracking respon
17. able of the running current will be 10 CommandData Special Note Most devices limit the voltage rather than the current In this case you can think of the CurrentCapacity as the power supply voltage and the RunningCurrent as the effective voltage being applied to the motor For example if a product uses a 5V motor and has a 15V power supply the running current might be set as Set Microstep Resolution Cmd 37 19 follows Command Data 10 CurrentCapacity RunningCurrent 10 15V 5V 30 If your application does not require high torque it is best to decrease the RunningCurrent 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 Set Hold Current Cmd 39 i S Firmware Version 5 00 and up Command Number 39 Command Type Command Data Reply Data Persistence Non Volatile holding its position The formula for the hold current works the same way as for running current HoldCurrent CurrentCapacity 10 CommandData 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
18. avel 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 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 The device does not send replies but otherwise works The device sometimes returns fewer than 6 bytes Poor repeatability or the device does not extend or retract smoothly or makes louder than normal noise during travel 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 f
19. ck State Invalid Lock state must be 1 locked or O unlocked 50 Device Id Unknown The device id is not included in the firmware s list 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 1700 npa qus Stored Position register out of range must be 0 15 Invalid Error Codes for Motion Products 33 1800 Move Position Invalid Move to Stored Position register out of range must be 0 15 1801 Move Position Not Move to Stored Position is not allowed unless the device has been homed 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 Invalid rotary actuators only 4010 Bit 10 Invalid Set Device Mode
20. cked depends on the firmware version In version 5 07 issuing a Restore Settings instruction while the settings are locked will result in an error 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 Reply Data Returns Current Position Summary Returns the id number for the type of device connected See the T Series Device_Ids wiki page for a table of device Ids for all Zaber products Set Lock State Cmd 49 29 Return Firmware Version Cmd 51 Instruction Name Retum Firmware Version Command Number 51 Command Type Read Only Setting Command Data Ignored Reply Data Version Returns Current Position No Persistence n a Summary Retums the firmware version installed on the device A decimal is assumed before the last two digits For example 502 indicates firmware version 5 02 Return Power Supply Voltage Cmd 52 ommand Number ommand Data ummary 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 indica
21. ctual Acceleration 11250 Command Data microsteps sec 2 Set Acceleration Cmd 43 25 11250 CommandData R steps sec 2 Where e Command Data is the value specified in the Command Data by the user eR 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 O 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 The acceleration may be changed on the fly even when the device is in the middle of a move The device will still target the final position specified in the original move Set Maximum Range Cmd 44 Instruction Name Set Maximum Range Firmware Version 5 00 and up Command Number 44 Command Type No Non Volatile Sets a limit on the range of travel up to 16777216 Use this command to limit the range of travel to a value other than the default Exercise caution since using this command it is possible to set the range to a value greater than the physical limits of the device The maximum range you can set is 16777216 microsteps This setting is stored in non volatile memory and will persist after power down or reset Set Current Position Cmd 45 Command Data Reply Data Set Maximum Range Cmd 44
22. d stop bits respectively The start bit is always positive and the stop bit is always negative The bit sequence is Start O 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 324164241 51 in decimal 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 O indicating the reply Device 1 Reply Firmware version Data 508 The JE data is the last 4 bytes combined with least significant byte first In this case the data is 0 256 3 0 256 2 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 i
23. e e eto ia te dede nd a ob it a i ET ma a a ute 12 Home Gmd Tue ja t metet svat teint te E MO TORO OE SED TER EU be dr e a ken TRE 12 Renumber Crm 25 ns inp UI e ER n a a EO POE Pea 13 Store Current Position CMA TO i aka ka ea aa desde cete etaed eo eee euo a da ve Eee das aid 13 Retim Stored Position CMA iii erc rrr itr rr ER LER o LA ba LEE da Si as 14 Move To Stored Position Cmd 18 eese enne eene eene nen ene nene na tenete nennen nennen 14 Move Absolu te Cimd 201 AA ie ue 15 Move Relative Cmd 2L osse b AAA AO A 15 Move At Constant Speed Cmd 22 esses eene ente E en nnst E EE e ER 16 Stopetma Dan A 17 Read Or Write Memory Cmd noticiario De er e ERE siciliano said 17 Restore Settings Cmd 36 5 iuste over A g 18 Set Microstep Resolution C md 37 reete d Rete I DEEP LH EE EEEE E OEE ENEE REAN 18 set Running Currert Cmd Scania arrancada ete tee e HER NA del eR EYES RE EE eee eb Ee atenda 19 Special Note si sis i ae os tes ee ial edad hel Ga a Gime aan eae ee 19 Set Hold Current Emd iia A da OS 20 Set Device Mode Cmd AQ iia let deus kk aa ea casn arta ire Cia dida 21 Special NOE one Ara az ero SAA AER IE A AAA A e a EE iaat 21 set Target Speed Cmd 42 iran pa a ios 24 Set Acceleration Cmd 43 he A stack on ri eese vov aee eo Ea oov ES Sa vede aba 25 Set Maximum Ranges Cmd 44 i esee leerlos avel ees SARL ada 26 Set urrent Position
24. e Low Power supply voltage too low 14 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 JAbsolute Position Move Absolute Target position out of range Invalid 21 Relative Position Move Relative Target position out of range Invalid Velocity Invalid Constant velocity move Velocity out of range 22 Restore Settings peripheral id is invalid Please use one of the peripheral ids listed in the user manual or O for default Invalid microstep resolution Resolution may only be 1 2 4 8 16 32 64 128 42 Speed Invalid Target speed out of range The range of target speed is determined by the resolution 3 Acceleration Invalid Target acceleration out of range The range of target acceleration is determined by the resolution 4 Maximum Range The maximum range may only be set between 0 and the resolution limit of the Invalid stepper controller which is 16 777 215 45 S T 4 4 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 O and 16 777 215 Move Invalid 7 4 Offset Invalid Home offset out of range Home offset must be between 0 and maximum range 48 JAlias Invalid Alias out of range Alias must be between 0 and 254 inclusive 49 Lo
25. e the power plug is plugged in all the way If your device has LEDs the green LED should light 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 adapter or cable in the line 9 The serial to mini din adapter comes in many varieties and many have different pin connections Check the adapter for continuity on the proper pins by consulting the adapter pin out diagram above 10 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 Send a Restore Settings Instruction command 36 A setting might have been inadvertently changed If you have a 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 based character language The device is moving very slowly It
26. e 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 Troubleshooting Motion Devices 41 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 If you re not skipping steps friction may still cause some variation repeatability errors smaller when returning to a position Depending on the exact cause there are a than 4 full steps 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 The device will not retract below what it believes to be the zero extends and retracts position If the device has missed steps due to a previous stall condition smoothly but will not or if the device has been set to an incorrect position the device may incorrectly believe it is at the zero position Y
27. ettings are changed automatically to adjust for the new microstep size The table below gives an example showing how other settings are affected when the microstep resolution Read Or Write Memory Cmd 35 18 is changed from 128 to 64 Target Speed 2922 1461 Maximum Travel Range 280000 1140000 ek Maximum Relative Move 20000 10000 Home Offset 1000 The settings for these commands are saved in non volatile memory i e the settings persist even if the device is powered down To restore all non volatile settings to factory default use Restore Settings command 36 Note that if a number is divided by two it is rounded down to the nearest 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 Firmware Version 500andup Command Number 3 Command Type Command Data The current is related to the data by the formula RunningCurrent CurrentCapacity 10 CommandData The Command Data can be either 0 no current or 10 maximum current through 127 minimum current Note that values of 1 through 9 are not accepted CurrentCapacity is the hardware s maximum capability of output current In other words as a fraction of the maximum current the device is cap
28. has 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 There are several things you should check communication between the computer and my 1 Make sure you have the correct serial port selected Try Zaber device the amber selecting other serial ports in the software To ensure that your light does not come on or serial port is working properly you can connect the send and flash receive pins of the serial adapter 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 2 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 4 Make sure the power supply is working The dc plug should measure 12 17 Vdc when it s not plugged into the device Troubleshooting Motion Devices 39 My device is behaving strangely It responds to some commands as expected but not to others 5 Make sur
29. he 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 Special Note 23 Actuator Extend Anti Backlash ON Anti Backlash OFF z i wi l L A i 8 i o lt EL i A Lu o e IL o c Q 2 143 lt 1 For each 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 Target Speed Cmd 42 Command Number te IT 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 Set Target Speed 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 Set Target Speed Cmd 42 24 Actual Speed 9 375 Data microsteps sec or 9 375 Data R steps sec or 562 5 Data R x S revolutions min Where e Data is the value of the Set Target Speed command data R micro
30. hey 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 recommended 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 ff Byte 3 Data Least Significant Byte LSB Byte 4 Data Byte 5 Data Byte 6 Data Most Significant Byte MSB The first 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
31. hold the position The range of accepted values is 10 127 and 0 Typically the hold current can be set to around 25 5096 of the running current If the running current is set to a value of 24 the hold current may be set to a value of 48 to provide 50 hold In some applications the friction of the drive system alone is sufficient to hold the microstep position of the 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 Special Note 20 Set Device Mode Cmd 40 Command Number 40 Reply Data Returns Current Position No Persistence Non V olatile Summary Sets the Mode for the given device Special Note 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
32. l a slight detent in the middle of moving again on its own its rotation Device starts turning as The potentiometer is probably not centered Turn the knob slowly until soon as the power is on or you feel the center detent amber LED blinks all the time Nothing happens when I Manual control may have been disabled Issue the Restore Settings turn the potentiometer Instruction command 36 or enable the potentiometer using the Set knob either way Device Mode Instruction command 40 Nothing happens when I The device needs to be homed first You must issue the Home send a move instruction Instruction command 1 after power up to home the device When I try to move the There may be too much load that the device is trying to push The device it just makes a actuator stalls in this situation Try removing the load and see if the noise and vibrates 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 Try removing all external loads If the device now extends and retracts makes noise but does not normally the problem is excessive load Try to reduce the load or move change step time and acceleration parameters to ensure the load is less than the maximum thrust If a linear motion device is stalled in its fully extended position and remains stalled without any external load applied it means the lead screw
33. m 2 677 mil 0 24804688 um 0 00977 mil 450 mm 17 717 in 23 um 0 906 mil 0 992188 um 0 03906 mil 450 mm 17 717 in 23 um 0 906 mil Repeatability Backlash Minimum Speed Speed Resolution lt 5 um 0 1969 mil 0 00093 mm s 0 00004 in s 10 00093 mm s 0 00004 in s lt 7 um lt 0 2756 mil 10 00465 mm s 0 00018 in s 10 00465 mm s 0 00018 in s 0 24804688 um 0 00977 mil 300 mm 11 811 in 15 um 0 591 mil 0 992188 um 0 03906 mil 300 mm 11 811 in 20 um 0 787 mil lt 20 um lt 0 7874 mil 0 0186 mm s 0 00073 in s 0 0186 mm s 0 00073 in s T LSRI50A lt 5 um lt 0 1969 mil 10 00093 mm s 0 00004 in s 10 00093 mm s 0 00004 in s Comparison T LSR Series 49 T LSR1SOB T LSR1SOD T LSR300A T LSR300B i 0984 mil iD Part Number Maximum Speed Maximum Continuous Force Vertical Runout T LSR7SA 4mm s 0 157in s 300 N 67 3 Ib 100N 22 4 Ib lt 76 um lt 2 99 mil T LSR75B 20 mm s 0 787 in s 200 N 44 9 Ib 100N 22 4 Ib lt 76 um lt 2 99 mil T LSR75D 80 mm s 3 150 in s 40 N 9 0 Ib 40 N 9 0 Ib lt 76 um lt 2 99 mil T LSRISOA j4 mm s 0 157 in s J300N 67 31b 100 N 22 4 Ib lt 50 um lt 1 97 mil 100 N k 00 l 0 00 l l T LSR300A l4 mm s 0 157 in s 300 N 67 3 lb 100N 22 4 Ib lt 76 um lt 2 99 mil T LSR300B 20 mm s 0 787 in s 200 N 44 9 Ib N 22 4 Ib 76 um lt
34. md 48 Instruction Name Set Alias Number 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 instruction 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 between 0 and 254 To avoid confusion it 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 Home Offset Cmd 47 28 Set Lock State Cmd 49 Instruction Name Set Lock State Firmware Version 5 07 and up Command Number 49 Command Type Command Data Reply Data Returns Current Position No Persistence Non V olatile Summary ILocks or unlocks all non volatile settings 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 How the Restore Settings instruction behaves when the settings are lo
35. name string or data that uniquely 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 Firmware Version 5 00 and up Command Number 36 Command Type No Command Data Peripheral Id Reply Data Peripheral Id ply Persistence Non Volatile 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 Command Number Valid data are 1 2 4 8 16 32 64 and 128 The default on most devices is 64 All position data sent to or received from T Series products is in units of microsteps Note that when you change the microstep resolution using this command other position related s
36. nd or retract the actuator past a given position 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 37 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 LED flashes when there is traffic packet on the RS232 line It also stays constantly on while the device is moving When the potentiometer is turned the amber LED will blink at a rate that is proportional to how far the potentiometer is turned The further the knob is turned away from center detent the faster the amber LED will blink If the device reaches either the home or the away limit while under manual move the amber LED will blink slower 2Hz to indicate that the device cannot move any further LED functions 38 Troubleshooting Motion Devices After the device finishes a The potentiometer knob is probably not centered Make sure the knob is move command it starts set to the middle position You can fee
37. ommand may pre empt or be pre empted by commands 18 20 21 22 and 23 Move At Constant Speed Cmd 22 Firmware Version 5 00 and up Command Number 22 Command Type Command Data Reply Data Persistence n a SS ie 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 is 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 To determine the actual speed that will result from a given data value the following formulas may be used Actual Speed 9 375 Command Data microsteps sec or 9 375 Command Data R steps sec or 562 5 Command Data R S revolutions min Where e Command Data is the absolute value of the Constant Speed Move instruction data e R microsteps step is the microstep resolution command 37 e S steps revolution is the number of steps per revolution of the motor For example if S 48 R 64 and the Constant Speed Move instruction is issued with Data of 2922 then the device will move forward at a speed of approximately 535 revolutions per minute For linear devices consult the section on Device
38. ou can solve the problem by issuing the home command or by turning the device on and off and manually homing it Troubleshooting Motion Devices 42 Warranty and Repair 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 for any reason you are not satisfied with your purchase send it back to Zaber Technologies Inc within one month of the purchase date for a refund A restocking fee of 100 or 5 whichever is greater will be applied to cover administration and customs fees charged to us Goods must be in brand new condition with no marks T series products are also guaranteed for one year or 50 000 cycles whichever comes first During this period Zaber will repair or replace faulty units 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 As such we offer no fixed guarantees or warranties on these devices This does not mean we won t accept returns It simply means that restocking or repair fees will be evaluated on a case by case basis depending on the product and the degree of customization How to return products Customers with devices in need of
39. ram Minidin 6 Female Minidin 6 Male Color Set 1 Color Set 2 to next device to previous device Transmit toward computer Ground Orange Red 12V Power Receive from computer Black Green Brown Green Black Yellow Examples 7 Note that multiple color sets are shown in the table above because multiple cable suppliers have been used over the years each implementing different color codes As of January 2008 most cables use color set 2 Rather than relying on this table it is recommended that users perform a continuity test to determine which wires are connected to which pins on their own device Users who have determined the color codes for their own devices are welcome to edit the wiki to add to them to the table above if they are not already present 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 lo Eg S Data cable wiring diagram This is a closeup of the instruction byte 2 The S on either end represents the start an
40. 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 43 Email Updates If you would like to receive our monthly email newsletter including product updates and promotions please sign up online at www zaber com news section Each newsletter typically includes a promotional offer worth at least 100 Email Updates 44 Contact Information Contact Zaber Technologies Inc by any of the following methods 1 604 569 3780 direct 1 888 276 8033 toll free in North America 1 604 648 8033 1777 West 75th Ave 1st Floor Vancouver BC Canada www zaber com Email Please visit our website for up to date email contact information Contact Information 45 Appendix A Default Settings Device Id 4071 4151 4301 4451 Microstep Resolution 64 Russing Coren hho ee Mode Acceleration as 11 111 111 111 771029 1526940 5038763 14550585 Home Offet lo p bb bo 10 steps 10 steps 64 foe dea oS ho ho fo po ho Running Current pg fho Hold Current 12 ma m f PL 2 la Mode 2048 2048 2048 2048 RE SEMMI Velocity e ME m 2922 ra Acceleration Hl 11 Ho 11 Range Initial Position 154202 305624 607
41. rom our website to verify that the hardware 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 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 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 then 12 V will reduce the device s maximum thrust Try a slower target velocity 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 greas
42. s 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 Sample Waveforms 9 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 C Reset 0 l 1 1 ommand Command Data Command Type Reply Data Ignored Command None Ignored Command Final position in this case 0 Return Stored Position 17 Move To Stored Position Renumber 2 Constant Speed Tracking 0 6 pa oo Address Command Final Position N Absolute Command Final Position Position Microsteps Setting Value Setting Value Setting Value Mode Setting Mode New Position Setting New Position Alias Number Setting Alias Number Move Absolute At Constant Speed m 1 x Set Hold Current Set Device Mode Set Current Position Set Maximum Relative Move Set Home Offset Set Alias Number Set Lock State 4 Move 2 2 3 3 3 3 3 4 4 4 4 4 4 4 4 2 3 5 6 7 8 9 0 2 3 4 5 6 7 8 9 Quick Command Reference 10 Return Device Id Ignored Read Only Device Id Setting Ret
43. se during move commands The device will return its position periodically 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 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 Enable Message Ids A value of 1 enables Message 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 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 Home Status This bit is set to 0 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
44. simply be daisy chained to the first For long chains a power supply should be connected at every 2nd or 3rd device A renumber command needs to be issued after a new device is connected before it can be controlled independently from the demo program Physical Installation Mounting There are several options available for mounting this stage Use the mounting holes in the bottom to mount to a surface or to another stage You might have to move the carriage to access the bottom mounting holes Some stages have mounting holes in the end plates for mounting vertically Mounting screws are included with most stages Installation 4 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 Restore Settings command will usually fix the problem The T LSR is 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 Grounding Control Through The RS 232 Serial Port All T Series devices use the same RS232 communications protocol Your
45. sition Summary Returns the position stored in one of the 16 position registers for the device Valid address 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 Factory Settings 36 command Move To Stored Position Cmd 18 Reply Data Returns Current Position Persistence n a Summary Moves the device to the stored position specified by the Command Data Store Current Position Cmd 16 14 Valid address values are O 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 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 can be specified using commands 42 and 43 respectively This command may pre empt or be pre empted by commands 18 20 21 22 and 23 Move Absolute Cmd 20 truction Name ply mmary I S Firmware Version 5 00 and up Command Number e n C Command Data Absolute Position 20 C Returns Current Posi
46. steps step is the microstep resolution command 37 e S steps revolution is the number of steps per revolution of the motor For example if S 48 R 64 and the Constant Speed Move instruction is issued with Data of 2922 then the device will move forward at a speed of approximately 535 revolutions per minute For linear devices consult the section on Device Specific Information to determine the linear distance corresponding to a single step or revolution Valid data values are from 0 to 512 R 1 Note that although the maximum data allowable depends on the resolution the maximum speed possible is independent of the resolution This can be seen by substituting Data 512 R into the second formula above giving a maximum speed regardless of resolution of 4800 steps sec The target velocity may be changed on the fly even when the device is in the middle of a move The device will automatically adjust the velocity but still target the final position specified in the original move Set Acceleration Cmd 43 Command Number 43 Acceleration o Reply Data Acceleration No 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 To determine the acceleration that will result from a given data value the following formulas may be used A
47. stop automatically and you can turn the potentiometer clockwise to extend 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 Le Step 1 Step 2 Step 3 Step 4 1 Plug the Mini DIN to D Sub serial adapter T MDFDSF9 into your computer s serial port and plug the device s data cable into the adapter 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 2 1mm center positive to the power connector of the device If present the green LED should light indicating the device has power some devices may not have LEDs 3 Install software from http www zaber com wiki Software 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 O Move device 1 to 10 000 microsteps Device 1 Cmd 20 Data 10000 To see the microstep distance resolution for your device see the specs page for that device on the respective product page 4 Additional devices can
48. t retracted it completely to set the home position 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 exte
49. ted voltage is slightly different from your measurements Return Setting Cmd 53 Firmware Version 5 00 and up Command Number 53 ommand Type Command Data JSetting Number Reply Data Setting Value Returns Current Position Return Firmware Version Cmd 51 30 Summary Returns the current value of the setting specified in the Command Data Valid setting numbers 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 had 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 Return Status Cmd 54 Instruction Name Return Status 5 00 and up Command Number Command Data Ignored Reply Data Status Returns Current Position Summary Retums the current status of the device Status codes are as follows e 0 idle not currently executing any instructions e 1 executing a home instruction 10 executing a manual move i e the manual control knob is turned e 20 executing a move absolute instruction e 2 executing a move relative instruction e 22 executing a move at constant speed instruction e 23 executing a s
50. tion Yes Persistence n a Su Moves the device to the position specified in the Command Data in microsteps The position must be between O and the Maximum Range setting or an error code will be returned 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 commands 42 and 43 respectively ommand Type Command may pre empt or be pre empted by commands 18 20 21 22 and 23 Move Relative Cmd 21 Summary Moves the device by the positive or negative number of microsteps specified in the Command Data The device moves to the position given by its position before the command plus the value in command data The final position must be between O and the Maximum Range setting or an error code will be returned All Move To Stored Position Cmd 18 15 move commands are pre emptive 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 The target speed and acceleration during a move relative instruction can be specified using commands 42 and 43 respectively The relative move command data in microsteps can be negative This c
51. top instruction i e decelerating Echo Data Cmd 55 Instruction Name Firmware Version 5 04andup Command Number Command Type Command Data Reply Data Return Setting Cmd 53 31 Returns Current Position 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 Current Position Cmd 60 Instruction Name Return Current Position Firmware Version 500andup Co nd Number e y Command Type Read Only Setting Command Data Ignored mma Reply Data mmar microsteps This is equivalent to the Return Setting 53 command with a data value of 45 Set Current Position Error Cmd 255 Command Number 255 C C Returns Current Position 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 Echo Data Cmd 55 32 Error Codes for Motion Products 2 Device Number Renumbering data out of range Data Device number must be between 1 and Invalid 254 inclusive Voltag
52. urn Firmware Version Return Power Supply Return Setting Return Status Echo Data Return Current Position Ignored Setting Number Version Setting Value Read Only Setting Read Only Setting Command Read Only Setting n a Read Only Setting Position Reply 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 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 This command reference applies only to firmware version 5 00 and up the most recent version For earlier versions of firmware please consult the appropriate PDF user s manual T Series Manual 2xx PDE T Series Manual 4xx PDE 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 Firmware Version 5 00 and up Command Number 0 Command Type
53. used to behave differently The device is not communication or responding to computer control The yellow LED may be blinking Green LED does not come on Green LED flashes The speed settings may have been changed inadvertently Send a Restore Settings Instruction command 36 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 Check the A C wall plug the 12V adapter 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 The power supply voltage is outside the range of 10 to 16V It may either be too low or too high Some unregulated 12 V adapters may produce in excess of 16 V If the number of devices connected on a single 12 V adapter exceeds its current capability the voltage may drop below 10 V You may experience this problem when many motors on a Troubleshooting Motion Devices 40 Turning the potentiometer causes no motion 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 12V supply rated at over 300 mA then the problem is probably that the supply voltage is too high You may be at the end of tr
54. ximum range of travel for a relative move command For example 1f 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 Instruction Name Set Home Offset Firmware Version 5 00 and up Set Current Position Cmd 45 27 Command Number Command Type Setting Command Data Offset Reply Data Returns Current Position 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 move forward until the home sensor is no longer triggered then move forward by the Home Offset value in microsteps and call this position 0 Note that the home offset command also changes the range For example if the initial home offset is O and the range is 500 000 and the user changes the home offset to 70 000 then the range is automatically adjusted to be 430 000 However changing the range does not affect the home offset This setting is stored in non volatile memory and will persist after power down or reset Set Alias Number C
55. ype ommand Data a o O 5 n a Returns Current Position Yes n a Persistence a o O Indicates to the user that the device has reached one of the limits of travel This response from a device indicates that it reached one of the limits of travel either the minimum position or maximum position For example if a device is sent a move at constant speed instruction and it reaches Data Reply Only Reference 35 the maximum range of travel then the device will reply with this command number and the maximum position reached as data Manual Move Tracking Cmd 10 struction Name eply ummary I n Firmware Version 5 00 and up Command Number 10 Command Type Reply Returns Current Position Yes Persistence n a S A reply that is sent when the manual control knob is turned The device has been moved manually the knob is turned If enabled with the Set Mode instruction the device sends this reply at regular intervals updating the current position during manual moves Limit Active Cmd 9 36 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 firs
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