- Zaber Technologies Inc
Contents
1. Copyright O Zaber Technologies Inc Page 38 of 43 12 TROUBLESHOOTING Symptom Check The unit is not communication or responding to computer control The yellow LED may be dimly lit 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 unit off and on and try again The unit is moving very slowly It used to behave differently speed settings may have been changed inadvertently The easiest way is to use command 36 to restore all settings to factory default Green LED does not come on Check the A C wall plug the 12 V 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 Unit starts turning as soon as the power is on or amber LED stays on all the time The potentiometer is probably not centered Turn the knob slowly until you feel Make sure that the unit s settings have been restored to factory default The the center detent The amber light should turn off Amber light flashes Turning the potentiometer causes no motion 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 capabi2. 22 Firmware Version All Command Number 22 Data Bytes Desired speed specified as the duration of a single micro step in increments of 0 1 microseconds per micro step negative values cause retraction positive values extend Reply Data The current position is returned at the start of the move The unit may also be set to return its position continuously during the move using the set mode command 40 bit 4 The new position is returned at the end of the move Behavior version 4 19 and up 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 whiile positive speeds cause extension Data is valid from 8388607 to 8388607 To determine the speed that will result from a given data value the following formulas may be used 107 Speed microsteps sec or Data 107 SW steps sec or Rx Data 60x10 re Se ae revolutions min SxRx Data Where Data is the absolute value of the Constant Speed Move instruction data R micro steps step is the micro step resolution command 37 S steps revolution is the number of steps per revolution of the motor For example if S
3. 48 R 64 and the Constant Speed Move instruction is issued with Data of 365 then the device will move forward at a speed of approximately 535 revolutions per minute For linear devices consult Appendix A to determine the linear distance corresponding to a single step or revolution Copyright O Zaber Technologies Inc Page 14 of 43 8 7 Stop 423 Firmware Version All Command Number 23 Data Bytes Ignored Reply Data Current absolute position Behavior This instruction can be used to pre empt any move instruction The unit will decelerate at a rate determined by command 43 Set Acceleration and stop 8 8 Set Home Sensor Scan Distance 34 Behavior version 4 17 and up Firmware Version 4 17 and up Command Number 34 Data Bytes Byte 3 and 4 specify the number of full steps to scan forward for second home sensor signal after initial triggering of the home sensor Bytes 5 and 6 are ignored Reply Data Reply data is simply an echo of the command data Default Value 0 This command is only used with T CD series of chopper driver controllers This is a rarely used setting and most applications can safely leave it at the default value When the home sensor is triggered the unit will move forward until the home sensor deactivates It will then move forward further by the Home Sensor Scan Distance If the home sensor reactivates within that distance the process is
4. The default value of 1 corresponds to the slowest available acceleration and is generally sufficient If faster acceleration is desired try increasing the value Data may only range from 1 to 255 note 0 is not an acceptable value 8 17 Set Range 44 Firmware Version All Command Number 44 Data Bytes The desired new range in micro steps Setting saved in EEPROM Non volatile Reply Data Reply data is simply an echo of the command data Default Value Depends on device see Appendix A Behavior 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 8 18 Set Current Position 45 Firmware Version All Command Number 45 Data Bytes Absolute position Reply Data Absolute position in this case the position that was just set Behavior The internal register that holds the position is set to the value given by the data bytes 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 before powering down After powering up set the position
5. 15 and up DriveCapacity x10 Data Data least significant byte only used can be either 0 no current or 10 maximum current through 127 minimum current Note that values of 1 through 9 are not accepted DriveCapacity is the hardware s maximum rated output ex 2500mA on our T CD2500 DriveOutput is the current that the drive will actually output to each phase of the motor 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 The curret is related to the data by the formula DriveOutput 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 DriveOutput gives Data 10 DriveCapacity DriveOutput 10 2500mA 420mA 59 5 round to 60 Therefore 60 should be the minimum data used with command 38 running current limit for continuous operation of a 420mA rated motor with a T CD2500 controller If your application does not require high torque it is best to decrease the DriveOutput 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 often the best indication of the degree to which overdriving can be employed If the motor is too hot to touch gt
6. 16384s Disable Power LED Disables the power LED during operation 15 32768s Disable Serial LED Disables the serial LED during operation Reply Only Commands in Firmware version 4 21 Reply Data Bytes Reply Data Pg Constant speed position tracking 8 N A Reply only Current absolute position 28 Manual move position tracking 10 N A Reply only Current absolute position 28 Power supply voltage out of range 14 N A Reply only Power supply voltage 28 Command data out of range 255 N A Reply only Current absolute position 29 Copyright Zaber Technologies Inc Page 11 of 43 8 DETAILED COMMAND REFERENCE Note that these commands apply only to firmware versions 3 00 through 4 99 To determine which version of firmware you have simply issue the return firmware version command 51 Many of the commands described below will work with other firmware versions however behavior may differ See the appropriate user s manual for the version of firmware on your device 8 1 Reset 0 Firmware Version All Command Number 0 Data Bytes Ignored Reply Data None Behavior This sets the device to its power up condition It has the same effect as unplugging and restarting the unit 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 8 2 Home 1 Firmware Version All Command
7. 22 Set Range HAA enese e E e E dan can id 23 Set Current Position Hi iii ici arcade acceden ENEE ebudedennacseess 23 Set Maximum Relative Move OAei 23 Set Home ar E e EE 24 Set Alas AL tia 24 Set Home Speed HAD cuco ocioso Eeer ege E Ed eege ge Ego ed ee 25 Retun Device TD HOOD dos dd ita Beas ee ins Sei as ended weds Wa oes See geet 25 Return Firmware Version AA Bee Eege Eege ee Ee KE E ERE ENS 25 Return Power Supply Voltage G31 crac cnn nnn conan cre conc cnn con nono 26 Return Setting Hato cias ti dnd daa alicia Sova vs de tds cid a a dsd id 26 Rem Status Hd ati baie E EE tod 26 Return Current Position GHe mnt e ea EEE EE E RE E OTRE Ea 27 REPLY ONLY COMMAND REFERENCE AA 28 Reply 8 Position tracking during instructed MOVE s s sssseesesessstsesreererserstsereterersersrsrerrerersesse 28 Reply 10 Position tracking during manual MOVE sssssessessesessstsesetereresrstserrteressersesrerrerersee 28 Reply 14 Power supply voltage out of range cece ecesesecsseceeeeceeeeeceeeeecsaeceeesecaeeseenereeeeaees 28 Reply 255 O 29 DEVICE SPECIFIC INFORMATION 0rssecseccehiexeyscoeneentsivsststereecuusteotbueraste Ae Se 30 T CD Series Chopper drive stepper controller ecesesccssecseeseceeeeeceseeeceaeceeesecaeeseeneeeeesaees 30 T HLA Series Heavy duty linear actuators 0 cts eeeeceeeeceseceeesecneeeeceaeeecsaecaeesecaeeseeneseesaees 34 TELA Series Linear actuators iii caian 34 T LLS Series Long tr
8. 75 C you should reduce the drive current Typically the hold current can be set to around 25 50 of the running current If the running current is set to 24 the hold current may be set to 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 command with data of 0 Note that the running current limit and hold current limit apply to all products with version 4 xx firmware not just current limiting devices such as the T CD series On voltage controlled products the DriveCapacity is simply the power supply voltage and the DriveOutput is the effective voltage being applied to the motor For example if a product uses a 5V motor and has a 15V supply the running current may be set as follows Data 10 DriveCapacity DriveOutput 10 15V 5V 30 Behavior version 3 00 to 4 14 Not implemented Copyright Zaber Technologies Inc Page 18 of 43 8 13 Set Device Mode 40 Firmware Version All Command Number 40 Data Bytes Bytes 3 and 4 are the mode configuration bytes All other bytes are ignored Reply Data Reply data is simply an echo of the command data Default Value Depends on device see Appendix A Behavior This command allows setting several options Each option is controlled
9. NM17C 20 50 40 100 no change as needed NM23 Series Motors 1 0A phase NM23A NM23B NM23C NM23A 20 50 40 100 no change as needed NM23B 20 50 40 100 no change as needed NM23C 20 50 40 100 no change as needed NM34 Series Motors 2 0A phase NM34A NM34B NM34C NM34A 10 25 20 50 no change as needed NM34B 10 25 20 50 no change as needed NM34C 10 25 20 50 no change as needed When using NMO08 series motors with a T CD2500 even at the minimum hold current the motor tends to get quite hot We recommend using a T CD1000 with these motors if possible or setting the hold current to zero if your application does not require a hold current Using NM34 motors with a T CD1000 is not recommended since the T CD1000 is only capable of driving 1A per phase which is half the rated current of the motor Copyright Zaber Technologies Inc Page 32 of 43 The wiring diagram below shows the motor connector pinouts as seen looking into the connector on the T CD1000 or T CD2500 housing This information will be needed if you wish to drive your own motor Note that Pin 4 is reserved for a maximum limit sensor which has not yet been implemented T CDxxxx Minidin 8 Motor Connector Pin Diagram I Motor Al 2 Motor A2 3 Motor BI 4 Reserved for max limit signal input 5 Motor B2 6 5V 7 Home limit signal input 8 Gad Copyright Zaber Technologies Inc Page 33 of 43 10 2 T HLA Se
10. 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 9 1 Reply 8 Position tracking during instructed move Firmware Version All Reply Command Number 8 Reply Data Current absolute position in microsteps Meaning The unit has been set to position tracking mode see Set Mode instruction and given a move instruction In this mode the unit sends this reply at regular intervals updating the current position during any move 9 2 Reply 10 Position tracking during manual move Firmware Version All Reply Command Number 10 Reply Data Current absolute position in microsteps Meaning The unit has been moved manually the knob is turned If enabled with the Set Mode instruction the unit sends this reply at regular intervals updating the current position during manual moves 9 3 Reply 14 Power supply voltage out of range Firmware Version 3 00 to 3 99 Reply Command Number 14 Reply Data Measured power supply volt
11. by a single bit within Bytes 3 and 4 All settings are stored in non volatile memory and are not affected by power down or reset Byte 3 bit Description 0 ai 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 1 2s Enable Anti backlash Routine A value of 1 enables anti backlash On negative moves retracting the device will overshoot the desired position by 60 um 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 60 um overshoot on negative moves The default value is 0 on all devices 2 4s Enable Anti sticktion Routine A value of 1 enables the anti sticktion routine On moves less than 60 um the device will first retract to a position 60 um 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 60 um negative move The default value is 0 on all devices 3 8s Disable Potentiometer A value of 1 disables the potentiometer preventing manual adjustment of the device The default value is 0 on all devices 4 16s Enable Constant Speed Position Tracking A value of 1 enables position tracking during constant speed commands The unit wi
12. device position On power up the default reference position assumed by the controller is typically the maximum range setting In certain applications for example continuous rotation at controlled velocities position synchronization isn t required and the home sensor may not need to be installed If you choose not to install the home sensor then DO NOT ISSUE A HOME INSTRUCTION command 1 If you do the motor will reverse indefinitely waiting for the non existent home senor to be triggered Instead you can set the initial position using the Set Current Position instruction command 45 The home sensor consists of a hall switch connected to a cable which plugs into the motion control device A small magnet included activates the home sensor when it approaches within about 0 5mm of the face of Copyright Zaber Technologies Inc Page 35 of 43 the hall switch If you choose to install the home sensor you must mount the hall switch and magnet in the orientation shown Experiment to determine the correct way around for the magnet as it will only work in one orientation Simply issue the home command and move the magnet in front of the hall switch as shown in the image below if the motor does not stop turn the magnet around and try again Typically the easiest way to install the hall switch and magnet is to glue them in place as shown in the image below Be sure that the hall switch is mounted to a fixed part and the magnet to a moving p
13. order to determine the best settings for your application Decreasing the current setting values increases the current limit See the command reference section for Commands 38 and 39 for complete details on this Increasing the current will increases thrust and micro step accuracy at a cost of additional heating vibration and noise Copyright O Zaber Technologies Inc Page 30 of 43 Recommended Changes from T CD Default Settings for driving LM Series Motorized Stages Setting Running Current Hold Current Mode Range T CD1000 T T CD1000 T CD2500 CD2500 Command 38 39 40 44 LMG Series Goniometer Stages 0 67A phase 0 0075 step LMG40 20 50 40 100 7680 170000 LMG60 20 50 40 100 7680 102400 LML Series Linear Stages 0 67A phase Sum step LML15 2 5um step LML25 LML50 LML15 20 50 40 100 7680 192000 LML25 20 50 40 100 7680 640000 LML50 20 50 40 100 7680 1280000 LMR Series Rotary Stages 0 67A phase 0 015 step LMR39 0 0125 step LMR58 LMR82 LMR39 20 50 40 100 7936 1536000 LMR58 20 50 40 100 7936 1843200 LMR82 20 50 40 100 7936 1843200 Recommended Changes from T CD Default Settings for driving NA Series Actuators Setting Running Current Hold Current Mode Range T CD1000 T T CD1000 T CD2500 CD2500 Command 38 39 40 44 NAO8 Ser
14. position data sent to or received from Zaber T Series devices must be in units of micro steps your software must convert position data entered by the user to micro steps before sending it to your device The linear or angular displacement corresponding to a single micro step of travel depends on the device The following section gives this and other information specific to each T Series product 10 1 T CD Series Chopper drive stepper controller T CD1000 and T CD2500 Default Settings Setting Description Command Default Value Resolution 37 64 Running Current 38 127 Hold Current 39 0 Device Mode 40 3584 Target Microstep Period 42 365 Acceleration 43 1 Range 44 8388863 Maximum Relative Move 46 8388863 Home Offset 47 0 Home Microstep Period 49 365 The T CD series stepper motor controllers are intended to drive a wide variety of motors It is not possible to choose factory default settings that will work with every motor that may be connected Therefore you will need to change some of the settings from the default values to match the motor you are driving The information below provides motor specs device resolution and suggested changes to the T CD default settings for each device compatible with it See the detailed command reference section for information on how to modify the settings Note that the running current and hold current settings may be adjusted from the recommended values in
15. 40 Set mode Options in Firmware version 4 21 See page 19 for more details Data bits Option Name Effect 0 ds Disable Auto reply Disables ALL replies except to commands 50 and higher 1 2s Enable Anti backlash Enables the anti backlash mode 2 4s Enable Anti sticktion Enables the anti sticktion mode 3 8s Disable Potentiometer Disables the potentiometer 4 16s Enable Position Tracking Enables position replies during constant speed commands 5 32s Disable Manual Position Disables automatic position replies during manual Tracking moves 6 64s Enable Logical Channels Enables the Logical Channels Communications Mode Communications Mode see manual for more details 7 128s Home Status Read only Cleared on power up Gets set automatically when device homes or position is set with command 45 8 256s Disable Auto Home Feature Disables monitoring of the home limit sensor during moves except for a home instruction Useful for allowing multiple revolutions on rotational devices 9 512s Reserved This bit is not used at this time 10 1024s Enable Fast Decay Mode Enables fast decay control of PWM chopper current in the chopper driver units 11 2048s Enable Circular Phase Micro Selects circular or square phase micro stepping stepping 12 4096s Home Active High Enable active high detection of home switch 13 8192s Reserved This bit is not used at this time 14
16. Number 1 Data Bytes Ignored Reply Data Absolute position in this case 0 Behavior The device retracts until it triggers its internal home switch It then moves forward several steps to avoid accidentally triggering the home switch during use If a home offset has been specified with the Set Home Offset instruction the device will extend the additional amount specified It will then stop and call this position 0 Copyright Zaber Technologies Inc Page 12 of 43 8 3 Renumber 2 Firmware Version 3 07 and up Command Number 2 Tf issued to a single unit new number Data Bytes If issued to all units ignored Reply Data Each unit affected replies with its device ID after renumbering Firmware Version 3 00 to 3 06 Command Number 2 Data Bytes Ignored Reply Data Each unit affected replies with its device ID after renumbering Behavior version 3 07 and up If issued with a 0 in Byte 1 the data bytes are ignored and all units will renumber The unit closest to the computer becomes number 1 The next unit becomes 2 and so forth If issued with a number other than 0 in byte 1 the specified unit will reassign itself the unit number specified in the data bytes Renumbering takes about 1 2 a second during which time the computer must not send any further data The unit number is stored in non volatile memory so you can renumber once and not worry about issuing the renumber ins
17. Steveston Hwy Richmond BC Canada V7E 2J1 Web http www zaber com for up to date information on all Zaber products Email Please visit our website for up to date email contact information Copyright Zaber Technologies Inc Page 42 of 43 APPENDIX A FACTORY DEFAULT SETTINGS The following tables show the default settings for all Zaber T Series devices under firmware version 4 21 To reset a device to its default settings simply issue command 36 Default settings in firmware version 4 21 Product Motor Motor Screw Device Microstep Range Powerup Target Running Hold Mode prefix V Steps Pitch ID Resolution micro Position Microstep Current Current Rev um step steps Period T LAI3A 12 48 6 35 13 64 131327 Range 365 10 0 0 T LA13B 5 48 12 7 1013 128 131327 Range 365 17 50 2560 T LA28A 12 48 6 35 28 64 282879 Range 365 10 0 0 T LA28B 5 48 12 7 1028 128 282879 Range 365 17 50 2560 T LA60A 12 48 6 35 60 64 606463 Range 365 10 0 0 T LA60B_ 5 48 12 7 1060 128 606463 Range 365 17 50 2560 T LS13 12 48 6 35 113 64 131327 Range 365 10 0 0 T LS13B_ 5 48 12 7 1113 128 131327 Range 365 17 50 2560 T LS28 12 48 6 35 128 64 282879 Range 365 10 0 0 T LS28B 5 48 12 7 1128 128 282879 Range 365 17 50 2560 T LS80 12 48 6 35 180 64 806399 Range 365 10 0 0 T LS80B 5 48 12 7 1180 128 806399 Range 365 17 50 2560 T HLA28 12 96 6 35 228 64 282879 R
18. ZAB R k T SERIES POSITIONING PRODUCTS USER S MANUAL Covers models T CD T HLA T LA T LS T LLS T MM T NM Firmware Versions 3 00 through 4 99 Document Revision 2006 07 17 Visit www zaber com for more recent updates Zaber Technologies Inc 2891 Steveston Hwy Richmond BC V7E 2J1 Canada 10 6 Contents ZABER T SERIES POSITIONING PRODUCTS A 4 Series SPECIFICATIONS tia a bote 5 Device e 5 FIRMWARE VERSION INFORMATION A 6 LECHEN RL EE 6 INITIAL SETUP AND TESTING eee eee esr eea eaae ees oe EAE eae eaei EEEE E 6 INSTALLATION csi te 7 Connection to a Computer eta ta 7 Linear Actuator Products T LA and T HLA sertes nono nnnnnn nono nnnnnnnnos 8 Vacuum Compatible DEVICES ciclista 8 CONTROL THROUGH THE RS232 PORT AE 9 COMMAND QUICK REFERENCE amp iscccsccccbssssscps tscesesssassnysenseoubavepsupudecpesbeseapasesdecdssenssnosspnsousnsersics 10 DETAILED COMMAND REFERENCE AAA 12 Reser HO tee EE 12 Home A a tie eet orig sass O Ee 12 Renimmber AL 13 INC Ri ee EES edd EE 13 Move Relative 321 14 Move at Constant Speed 22 erneer E E a Eara E E E AEA Eara Eeer A aTa iS 14 el E DEE 15 Set Home Sensor Scan Distance GA 15 Read Write EEDOM 35 oido SEA 16 Restore factory default settings Oe 16 Set Micro Step Resolution OI 17 Set Running Current 38 amp Set Hold Current OO 18 Set Device Mode H4Q iii dicen at 19 KEN deM DR 21 Set Target Speedi HAZ aida st 21 Set Acceleration H3 EE
19. age in increments of 0 1V i e 97 9 7V Meaning version 4 00 and up None This reply was replaced with reply 255 a generic error code reply Meaning version 3 00 to 3 99 This reply is triggered when the power supply voltage is out of range Copyright O Zaber Technologies Inc Page 28 of 43 9 4 Reply 255 Error Firmware Version 4 00 and up Reply Command Number 255 Reply Data Version 4 xx Error code see meaning below Older Versions Current position in microsteps Meaning version 4 00 and up An error has occurred The error code returned in the data indicates the type of error 14 power supply voltage too low 15 power supply voltage too high 20 target position out of range move absolute 21 target position out of range move relative 22 target speed out of range constant velocity 37 thru 49 setting x out of range 53 requested setting does not exist in this firmware version 64 command number not valid in this firmware version Meaning version 3 00 to 3 99 This reply indicates that the command data is out of range The data contains the current position in microsteps No error codes are provided to indicate the source of the error Copyright O Zaber Technologies Inc Page 29 of 43 10 DEVICE SPECIFIC INFORMATION Zaber T Series positioning devices are driven by stepper motors using a micro stepping controller with up to 128 micro steps per step All
20. ange 365 10 50 0 T MM2 12 48 6 35 302 64 126207 Range 365 10 0 0 T LES105 12 200 10 701 64 672255 Range 2 365 10 0 0 T LLS260 12 200 10 702 64 1664225 Range 2 365 10 0 0 T NM 12 200 n a 601 64 8388863 Range 2 365 10 0 256 T CD1000 n a n a n a 901 64 8388863 Range 365 127 0 3584 T CD2500 n a n a n a 902 64 8388863 Range 365 127 0 3584 The T MM2 product has a home position of 65536 instead of 0 Since the default range is 126207 the default maximum position is 65536 126207 60671 Copyright Zaber Technologies Inc Page 43 of 43
21. art and that negative motion of the motor ex a negative relative move negative constant speed move or counterclockwise turn of the manual control knob brings the magnet closer to the hall sensor Hall Switch Home Sensor Installation Copyright O Zaber Technologies Inc Page 36 of 43 10 7 T MM2 2 axis motorized mirror mounts T MM2 Motorized mirror mounts Motor 48 steps revolution Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 Microstep Resolution 64 Microstep Period 365 Running Current 10 Hold Current 0 Zaber positioning products generally accept only positive position data ranging from 0 up to the maximum range of the device The T MM2 however can accept negative position data This simplifies the calculations required to convert from linear to angular dimensions Acceptable positions for the T MM2 axis actuators are in the range from 65536 micro steps the home or fully retracted position to 60671 micro steps the maximum extended position A linear position of zero micro steps corresponds to an angular position of zero urad In this position the plane of the moveable plate on which the optics are mounted should be approximately parallel to the front face of the mirror mount housing The distance from the dp actuator contact points to the pivot point is 66 66 mm Using the approximation dD T where dp is linear displacement of the actuator and d is angular displacemen
22. avel linear slides 00 ee eeeeeseeseceseeeceseceeesecseeseceaseccsaeceeesecaeeseeneseeeaees 34 TELS E 35 T NM NEMA stepper motors with built in controllers 35 Copyright O Zaber Technologies Inc Page 2 of 43 10 7 T MM2 2 axis motorized mirror MOUNIS cocococonnnccononnnonnnoncnnnonananonenonoconanananononocconannanenoniccnnanns 37 11 MANUAL CONTROL AND LED INDICATORS esesesseesssreesssrerrssrsresrerreeresrerrnsesresresrenrrsrereseee 38 12 FROUBLESHOOTIN Reie eege Eege hee lesnadraes seit abu E E 39 13 DATA CABLE PINOUT DIAGRAM EERSTEN REENEN NEEN a E a ENER 41 14 WARRA N EE 42 15 REPAIRS eonna ar A os hanks ees EEE E Ea E a EEEE a Ee 42 16 EMAIL UPDATES ep arser a E a E R EEE S ile 42 17 DISCLAIMER scooter Earle lali dass 42 18 TECHNICAL SUPPORT AND CONTACT o cscsscccssscssessshessisov capassse enero lona raciones ds 42 Copyright O Zaber Technologies Inc Page 3 of 43 1 ZABER T SERIES POSITIONING PRODUCTS T LA Series Linear Actuators T HLA Series Heavy Duty Linear Actuators T MM Series Motorized Mirror Mounts T NM Series Steppers with built in Controllers T CON Series Stand alone Controller T CD Series Chopper Drive Stepper Controller Product Updates If you would like to receive our quarterly email newsletter with product updates and promotions please sign up at http www zaber com news section Copyright O Zaber Technologies Inc Page 4 of 43 1 1 Se
23. back to the saved value In this way you can continue without having to home the device 8 19 Set Maximum Relative Move 46 Firmware Version All Command Number 46 Data Bytes The desired maximum relative move in micro steps Setting saved in EEPROM Non volatile Reply Data Reply data is simply an echo of the command data Default Value Same as Range setting Behavior 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 Copyright O Zaber Technologies Inc Page 23 of 43 8 20 Set Home Offset 447 Firmware Version 3 05 and up Command Number 47 Setting saved in EEPROM Non volatile Reply Data Reply data is simply an echo of the command data Default Value 0 Data Bytes The desired home offset distance in micro steps Behavior version 3 05 and up When the home command is issued the unit 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 micro steps and call this position 0 Behavior version 3 00 to 3 04 Not implem
24. e custom data such as a serial number a 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 8 10 Restore factory default settings 36 Firmware Version All Command Number 36 Data Bytes Ignored Reply Data Reply data is simply an echo of the command data Behavior This command changes all settings back to their factory default values Copyright Zaber Technologies Inc Page 16 of 43 8 11 Set Micro Step Resolution 37 Firmware Version 4 15 and up Command Number 37 Data Bytes Byte 3 is the micro step resolution in units of lustep step All other bytes are ignored Setting saved in EEPROM Non volatile Reply Data Reply data is simply an echo of the command data Default Value Depends on device see Appendix A Behavior version 4 15 and up This setting changes the number of micro steps per step 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 micro steps Note that when you change the micro step resolution using this command other position related settings are chan
25. e purchase date for a complete refund T series devices 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 Customers are responsible for shipment back to Zaber For complete details of our warranty and other policies please see our website 15 REPAIRS If your unit needs repairs please Contact us to obtain an RMA number On units with exposed leadscrews i e T LA series if possible retract the lead screw fully into the housing This way the lead screw is protected from damage during shipping Pack the unit well Email us the tracking number of the shipment i e FedEx or UPS 16 EMAIL UPDATES If you would like to receive our quarterly email newsletter with product updates and promotions please sign up online at http www zaber com news section 17 DISCLAIMER Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where product malfunction or failure could cause personal injury or death or damage to equipment Zaber disclaims any and all liability for injury or other damages resulting from the use of its products 18 TECHNICAL SUPPORT AND CONTACT You can contact Zaber Technologies Inc for technical assistance by on one of the following methods Phone 1 604 276 8033 direct 1 888 276 8033 toll free in North America Fax 604 648 8033 Mail 2891
26. ented 8 21 Set Alias 48 Firmware Version All Command Number 48 Data Bytes Byte 3 is the alias unit number Valid numbers are between 0 and 254 To avoid confusion it is best to choose an alias greater than the number of units connected However this is not required Reply Data Reply data is simply an echo of the command data Default Value 0 Behavior This creates an alternate unit number for a device in addition to its actual unit number By setting several aliases to the same value you can control groups of units with a single instruction When you send an instruction using an alias unit number all devices with that alias will execute the instruction and reply using their actual unit numbers To remove an alias simply set it to zero Copyright O Zaber Technologies Inc Page 24 of 43 8 22 Set Home Speed 49 Firmware Version 4 15 and up Command Number 49 Data Bytes Bytes 3 and 4 set the micro step period in units of 0 1 microseconds per micro step for homing device The default is 365 36 5 us Other data bytes are ignored Setting saved in EEPROM Non volatile Reply Data Reply data is simply an echo of the command data Default Value 365 Behavior versions 4 15 and up This setting controls the speed of the actuator while executing a Home instruction The speed of the actuator during regular moves is not affected by this setting The data speci
27. fies the micro step period in increments of 0 1 us The actual speed of the device depends on the Micro step Resolution setting Behavior version 3 00 to 4 14 None Not implemented 8 23 Return Device ID 50 Firmware Version All Command Number 50 Data Bytes Ignored Reply Data Device ID Behavior all versions This causes the unit to return an identification code indicating the type of device connected See Appendix A for a table of Device IDs 8 24 Return Firmware Version 51 Firmware Version All Command Number 51 Data Bytes Ignored Reply Data Firmware Version Note that the firmware version may take up more than one byte Behavior This causes the unit to return its firmware version number A decimal is assumed before the last two digits For example reply data of 417 indicates firmware version 4 17 Copyright Zaber Technologies Inc Page 25 of 43 8 25 Return Power Supply Voltage 452 Firmware Version All Command Number 52 Data Bytes Ignored Reply Data Power supply voltage Behavior This causes the unit to return the voltage level of its power source A decimal is assumed before the last digit For example reply data of 127 indicates 12 7 V 8 26 Return Setting 53 Firmware Version All Command Number 53 Data Bytes Setting Number Reply Data Setting number in Byte2 Curren
28. ged automatically to adjust for the new micro step size The table below gives an example showing how other settings are affected when the micro step resolution is changed from 128 to 64 Example of settings affected when Micro step Resolution is changed from 128 to 64 Setting Before After Target Speed micro step period 365 730 Maximum Travel Range 280000 140000 Current Position 10501 5250 Maximum Relative Move 20000 10000 Home Offset Distance 100 50 The setting for these command is saved in non volatile memory i e the setting persists even if the device is powered down To restore all non volatile settings to factory default use command 36 Note that if a number is divided by two it is rounded down to the nearest whole number Home speed is determined separately by Set Homing Speed command command 49 and does not adjust to changing micro step resolution Behavior version 3 00 to 4 14 Not implemented Copyright Zaber Technologies Inc Page 17 of 43 8 12 Set Running Current 38 Set Hold Current 39 Firmware Version 4 15 and up Command Number 38 set running current 39 set hold current Data Bytes Byte 3 contains the value for the running or hold current All other bytes are ignored Range 0 10 127 Reply Data Reply data is simply an echo of the command data Default Value Depends on device see Appendix A Behavior version 4
29. ices with firmware version 3 00 through 4 99 Newer firmware versions may be available Due to the addition of new features newer versions of firmware may not be 100 compatible with older versions For more information on firmware versions that may have been released since the printing of this manual please check the support section of Zaber s website where user s manuals for all versions of firmware are posted for download You may also wish to read the document Zaber T Series Firmware History and Migration which should be posted on Zaber s website as well and updated regularly This document specifies what version of firmware currently ships standard on each device as well as outlining the changes that have taken place from one firmware version to the next and indicating what options are available if you wish to upgrade or downgrade the firmware on your devices 3 CAUTION Zaber s positioning devices are precision instruments and must be handled with care In particular leadscrews must be treated with care Axial loads in excess of the stall load axial and radial impact dust and other contaminants and damage to the leadscrew thread will reduce the performance of the unit below stated specifications Performance depends very much on the condition of the leadscrew On actuators such as the T LA and T HLA series the plunger should always be left in the fully retracted position home when not in use This protects the leadscrew fr
30. ies Actuators 0 4A phase 3 048 um step NA08A 6 096 um step NAO8B NAO8A16 40 100 127 127 no change 340000 NA08A30 40 100 127 127 no change 630000 NA08B 16 40 100 127 127 no change 170000 NA08B30 40 100 127 127 no change 315000 NA11 Series Actuators 1 0A phase 6 35 um step NA11B NA11B16 20 50 100 127 no change 165000 NA11B30 20 50 100 127 no change 310000 NA11B60 20 50 100 127 no change 620000 NA 14 Series Actuators 0 57A phase 6 096 um step NA14B NA14B16 40 100 127 127 no change 170000 NA 14B30 40 100 127 127 no change 315000 NA 14B60 40 100 127 127 no change 630000 Copyright O Zaber Technologies Inc Page 31 of 43 Recommended Changes from T CD Default Settings for driving NM Series Motors Setting Running Current Hold Current Mode Range T CD1000 T T CD1000 T CD2500 CD2500 Command 38 39 40 44 NMOS Series Motors 0 6A phase NMO8A 0 8A phase NMO8B NMO8A 25 60 100 127 no change as needed NMO8B 25 60 100 127 no change as needed NM11 Series Motors 0 67A phase NM11A NM11B NM11C NM11A 20 50 40 100 no change as needed NM11B 20 50 40 100 no change as needed NM11C 20 50 40 100 no change as needed NM17 Series Motors 0 95A phase NM17A 1 2A phase NM17B NM17C NMI7A 20 50 40 100 no change as needed NM17B 20 50 40 100 no change as needed
31. itted with less than 10 ms between each byte If the unit 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 Unit Command Data least Data Data Data most significant significant byte byte The first byte is the unit number in the chain Unit number is the closest unit to the computer and unit number 2 is next and so forth If the number 0 is used all the units in the chain will execute 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 data bytes are interpreted depends on the command Complete details are given in the command reference on the following page Examples Renumber all units 0x00 0x02 0x00 0x00 0x00 0x00 Home all units 0x00 0x01 0x00 0x00 0x00 0x00 Move unit 1 to an absolute position command 20 of 257 micro steps 0x01 0x14 0x01 0x01 0x00 0x00 Move unit 2 to a relative position command 21 of 1 micro steps 0x02 0x15 OXFF OxFF OxFF OxFF If you are using Zaber s demo software you will only see 3 entry fields Unit Command and Data The Unit and Command fields accept in
32. lity the voltage may drop below 10 V 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 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 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 unit 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 come on when turning the knob if not try turning the power off and then on again If the unit does not make any noise even when turning the knob both ways the green light is on and the amber light does not flash but turns on when turning the knob or stays off all the time the unit needs servicing Communications do not seem to work the amber light does not come on or flash Make sure that you are on the correct com port Check the baud rate hand shaking parity stop bit etc Check the cable and adapter for bent or broken pins Make sure you do not have a null modem adapter or cable in the line The serial to mini din adapter comes in many varieties and many have different pin connections Check the adapter for contin
33. ll return its position periodically when a constant speed command is executed The Disable Auto Reply option above takes precedence over this option This feature is available in firmware versions 2 04 and higher The default value is 0 on all devices 5 32s Disable Manual Position Tracking A value of disables automatic position replies during manual moves The Disable Auto Reply option above takes precedence over this option This feature is only available in firmware versions 2 09 and higher The default value is 0 on all devices 6 64s Enable Logical Channels Mode A value of 1 enables the Logical Channels Mode In this mode of communication only bytes 3 thru 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 Logic Channel Mode allows the user application to monitor communication packets individually to implement error detection and recovery The default value is 0 on all devices Copyright Zaber Technologies Inc Page 19 of 43 7 128s 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 unit has a valid position reference It can also be set or cleared by the user 8 256s Disable Auto Home A value of 1 disables auto home checking Checking for trigger
34. necting several units in a daisy chain first connect the units to one another Then only apply power when all of the units are connected properly Once you have a working power supply you can test the operation of your device If you have a device with manual adjustment turn the potentiometer counterclockwise to home the device When operating manually you must home the device 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 unit retracts completely it will stop automatically and you can turn the potentiometer clockwise to extend the device Copyright Zaber Technologies Inc Page 6 of 43 If you have a T xxxx S model you cannot control the unit manually Instead you must install the device on a computer See the next section for information on how to do this 5 INSTALLATION 5 1 Connection to a Computer Connecting Zaber devices to a computer is a very simple process de A Step 1 Plug the Mini DIN to D Sub serial adapter 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 Additional Devices Additional units can simply be daisy chained to the first For long chains a power supply should be c
35. ng the unit will loose position in increments of 4 steps that is in multiples of 25 4 um 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 then the maximum thrust Check the voltage using the voltage command Voltage less then 12 V will reduce the unit s maximum thrust Be very careful when changing minimum step time maximum step time and acceleration A bad choice can introduce skipping Lead screw conditions greatly affect the performance of the unit 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 trust 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 max step time and min step time 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 extends and retracts smoothly but will not retract to the home zero position The de
36. o the load may result in an over constrained system that will reduce thrust or cause the leadscrew to bind 5 3 Vacuum Compatible Devices Zaber s vacuum compatible devices devices with the suffix V in the part number are identical in appearance and function to their non vacuum compatible counterparts with the following exceptions Lubrication All lubricated interfaces motor bearings leadscrews leadnuts etc are cleaned and regreased using a vacuum compatible lubricating gel NyeTorr 5300 vapor pressure 5x10 9 Torr at 25 C We make every effort to remove all trace of the original greases some components arrive from our manufacturers pre assembled and pre greased but for best results we recommend degassing the units before use in the final application Power No power connectors are provided on vacuum compatible devices Instead the power must be supplied through the data cable lines A special serial adapter with power input is provided Data cable extensions Vacuum compatible devices use the same mini din 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 line
37. of home sensor is only done when home command is issued This allows rotational devices to move multiple revolutions without retriggering the home sensor 9 512s Reserved Unused at this time 10 1024s Enable Fast Decay Mode A value of 1 enables fast decay control of PWM chopper current in the chopper driver units T CD2500 devices This bit has no effect on other devices Most applications should leave this bit unchanged 11 2048s Enable Circular Phase Micro stepping Square phase micro stepping is employed by default A value of 1 enables circular phase micro stepping mode The difference between circular phase and square phase micro stepping are Circular Phase constant torque smoothest operation better microstep accuracy only 70 torque and lower power consumption Square Phase non constant torque less smooth operation poorer microstep accuracy 100 torque achieved and higher power consumption 12 4096s Set Home Switch Logic Some devices have active high home limit switches A value of 1 must be set for these devices for the device to home properly On devices with built in motors and home sensors the factory default settings will be correct However some devices such as the T CD series can accept a variety of motors and home sensors On these devices this bit may need to be changed from the default setting in order for the home sensor to function correctly See the recommended settings for your particular device Damage
38. olution setting Echo of command data 17 Set running current 38 Running current setting Echo of command data 18 Set hold current 39 Hold current setting Echo of command data 18 Set device mode 40 Mode configuration see below Echo of command data 19 Set start speed 41 Maximum step time setting Echo of command data 21 Set target speed 42 Target micro step period Echo of command data 21 Set acceleration 43 Acceleration setting Echo of command data 22 Set maximum travel range 44 Range in micro steps Echo of command data 23 Set current position 45 New current position Echo of command data 23 Set maximum relative move 46 Maximum relative move Echo of command data 23 Set home offset 47 Home offset in micro steps Echo of command data 24 Set alias 48 Alias unit number Echo of command data 24 Set home speed 49 Homing micro step period Echo of command data 25 Return device ID 50 Ignored Device ID 25 Return firmware version 51 Ignored Firmware Version 25 Return power supply voltage 52 Ignored Power supply voltage 26 Return setting 53 Setting Number Byte2 Setting number 26 Byte3 Setting value Return status 54 Ignored Move status 26 Return current position 60 Ignored Absolute position 27 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 defaults use command 36 Copyright Zaber Technologies Inc Page 10 of 43 Command
39. om the environment The leadscrew may be cleaned periodically for best results To clean the screw first use methanol to dissolve old grease and contaminants There are plastic components that may be damaged by some strong solvents A small amount of silicon based grease should be applied to reduce friction backlash and sticktion For vacuum applications we recommend NyeTorr 5300 silicon based vacuum grease available from www nyelubricants com 4 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 The power input accepts a standard 2 1mm center positive connector Most 12V AC to DC adapters output around 16V under light current draw dropping to 12V at their rated current Some may output higher voltages and will not be suitable The chosen power supply must be also be rated to handle the maximum total current draw of the devices connected to it For example if you have two T LA units chained together with a single power supply you will need at least 640 mA 320 mA per actuator x 2 When powering long chains of devices we recommend connecting a power supply to at least every 2nd device in the chain to reduce the current through the data cables When con
40. onnected at every 3 unit A renumber command needs to be issued after a new unit is connected before it can be controlled independently from the demo program Step 2 Connect the power plug of your power supply 2 1mm center positive to the power connector of the device The green LED should light indicating the unit has power Zaber VB6 Demo All com ports are currently closed Com Pott fi Dpen Com Port and Unit Command Step 3 Install a demo program from the included CD or download one from the support section of our website http www zaber com Follow the instructions in the readme file to install and run the program As a simple first test try entering these instructions Unit Cmd Data Description 0 2 0 Renumber 1 1 0 Home Copyright O Zaber Technologies Inc Page 7 of 43 5 2 Linear Actuator Products T LA and T HLA series When mounting linear actuators care must be taken not to over constrain the leadscrew At the point of contact of the leadscrew with 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 t
41. r code or commercial package is correct Check baud rate etc Check connectors for bent or broken pins The unit 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 Stall condition The unit makes noise but does not move Poor repeatability or the unit does not extend or retract smoothly or makes louder than normal noise during travel Try removing all external loads If the unit 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 the unit is stalled in its fully extended position and remains stalled without any external load applied it means the lead screw 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 the unit is stalled with no external load in a position that is not fully extended then it requires servicing You may be skipping steps When skippi
42. repeated If the home sensor does not reactivate within the Home Sensor Scan Distance the unit retracts to the point where the home sensor deactivated and sets this position to 0 This setting is useful if a custom home sensor is used to detect a magnet mounted to the side of a rotating and translating leadscrew such that the magnet follows a helical path and may pass in front of the home sensor multiple times If the first pass is not detected properly perhaps due to too high a speed setting the Home Sensor Scan Distance to a value equivalent to at least one full revolution of the leadscrew will ensure a repeatable home position In applications where there is no possibility of the home sensor triggering multiple times this setting can safely be left as 0 Behavior version 3 00 to 4 16 Not implemented Copyright Zaber Technologies Inc Page 15 of 43 8 9 Read Write EEprom 35 Firmware Version All Command Number 35 Data Bytes Byte 3 specifies the address and action to be performed read or write Byte 4 specifies the data to write it is ignored for reads Bytes 5 and 6 are ignored Reply Data The reply data is simply an echo of the command data except that byte 4 contains the data read from the specified address Behavior This command is used to read or write a byte of non volatile memory 128 bytes of EEPROM memory are available for user data For example the user may want to save som
43. ries Heavy duty linear actuators T HLA Heavy duty Linear Actuator Motor 96 steps revolution Device motion 609 6 um revolution Default settings Mode 0 Microstep Resolution 64 Microstep Period 365 Running Current 10 gt Hold Current 0 10 3 T LA Series Linear actuators T LA Precision Linear Actuator Motor 48 steps revolution Device motion 304 8 um revolution Default settings Mode 0 eu Microstep Resolution 64 f Microstep Period 365 o y Running Current 10 Hold Current 0 10 4 T LLS Series Long travel linear slides T LES Long travel Linear Slide Motor 200 steps revolution Device motion 2 mm revolution Default settings Mode 0 Microstep Resolution 64 Microstep Period 365 Running Current 10 Hold Current 0 Copyright O Zaber Technologies Inc Page 34 of 43 10 5 T LS Linear stages T LSxx Linear Stage Motor 48 steps revolution ES Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 Microstep Resolution 64 Microstep Period 365 Running Current 10 Hold Current 0 T LS linear stages contain a spring which applies a light load against the leadscrew Typically these stages are used in a horizontal orientation and the only force experienced by the leadscrew is the spring force which serves to keep the load on the leadscrew always in the same direction thus reducing backlash If used in a vertical orientation the spring i
44. ries Specifications Power Supply 12V nominal 12V to 16V acceptable DC unregulated supply on 2 1 mm center positive power connector Note that voltage will affect available thrust Communications RS232 9600 baud no parity one stop bit on 6 pin mini din cable PS 2 male towards the computer female towards the next unit 1 2 Device Specifications Part Range Repeatability Backlash Part Stall Load Max Speed Current Mounting Interface Manual Draw Control vk SW a T LA28A 40 N 4 mm s 320 mA 3 8 32 threaded shank T LA60A T HLA28 Am Am ann ann 3 8 32 threaded shank 32 3 8 32 threaded shank shank T LLS260 T MM2 60 mrad s 600 mA Y4 20 M6 adapter available Yes T NM 2100 g cm 180 rpm 900 mA M3 holes 5mm shaft Yes T XXXX S All part numbers are available with the S suffix These parts are identical to No the standard part except that they have no manual control Thrust is a function of speed These values cannot both be achieved simultaneously i e at maximum speed the unit will stall at a load of about 1 3 the indicated stall load Copyright Zaber Technologies Inc Page 5 of 43 2 FIRMWARE VERSION INFORMATION The version of firmware installed on any Zaber T Series device can be determined by issuing command 51 A 3 digit number will be returned Assume 2 decimal places ex a reply of 293 indicates firmware version 2 93 This user s manual applies only to dev
45. s 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 Copyright Zaber Technologies Inc Page 8 of 43 6 CONTROL THROUGH THE RS232 PORT Your communications settings must be 9600 baud no hand shaking 8 data bits no parity one stop bit The amber LED will light when there is activity on the RS232 lines You can use this feature to try to determine which COM port you are connected to We recommend using the sample Visual Basic program included with Zaber products It also contains source code that you can use as an example for writing your own code to control your specific system Important After power up the units in the chain will each initialize themselves as unit 1 and thus they will each execute the same instructions To assign each unit a unique identifier you must issue a renumber instruction after all the units in the chain are powered up and every time you add or remove a unit from the chain 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 transm
46. s not needed to reduce backlash since the load the weight of the stage and whatever may be mounted to it is always in the same direction by default In fact if the load is greater than the minimum spring force and less than the maximum spring force the existence of the spring will actually introduce backlash since there will be a point in the stage travel where the load on the leadscrew changes direction Therefore when using T LS stages in a vertical orientation we recommend removing the spring from the stage This can be done relatively easily using a small hook fashioned from a paperclip to slip the spring off its mounting posts and slide it out of the stage It may help to fully extended the stage prior to spring removal 10 6 T NM NEMA stepper motors with built in controllers T NM NEMA 17 Stepper Motor with controller Motor 200 steps revolution Device motion 1 8 step Default settings Mode 0 Microstep Resolution 64 Microstep Period 365 Running Current 10 Hold Current 0 Most Zaber positioning products have built in home sensors However on the NM and T NM series of devices the home sensor is optional Depending on the user s application the home sensor may or may not be required Therefore the home sensor on these devices is removable note this may not be the case on some older models The purpose of the home sensor is to set a reference or zero position to sync the controller position to the actual
47. t accelerates at the acceleration rate up to a maximum speed given by the target speed setting Linear Velocity Profile Velocity Acceleration Time Valid Data values are 0 to thru 255 The values determine the acceleration as follows 0 no acceleration unit will start moving at target micro step period 1 255 constant acceleration deceleration For Data 1 thru 255 the acceleration can be calculated by the following formula 1 250 000 l Acceleration microsteps sec or Data 1230 000 steps sec Rx Data Where Data is the acceleration setting value R micro steps step is the micro step resolution command 37 For example if R 64 and the Set Acceleration instruction is issued with Data of 50 the acceleration will be 19531 microsteps sec or 391 steps sec During acceleration the micro step period is decremented every 8 Data micro steps until the target speed command 42 is reached If you encounter stalling problems when trying to achieve the required speed try increasing the acceleration setting value to decrease the acceleration until the problem is resolved Generally it is advisable to accelerate as quickly as possible to reduce time spent near resonant step frequencies Copyright O Zaber Technologies Inc Page 22 of 43 Behavior version 3 00 to 4 13 These versions have a non constant non linear acceleration profile that is difficult to quantify in terms of A
48. t of the mounting plate yields an angular resolution of 15 micro radians per um of linear travel This approximation is good for positions near zero but introduces an error up to 300 urad at the minimum and maximum travel If better accuracy is desired 2 0 09921875 e should be used where p over the full range of motion then the equation gt is the actuator position in micro steps is 66660 um and O is the desired angular position in mrad The following table was created using the above calculations T MM2 Position Table Dimensional Cross Reference micro step position Microns mrad using 15 mrad using tangent urad um equation approximation 65536 min home 6502 4 97 536 97 238 0 0 0 0 60671 max 6019 7 90 296 90 060 Copyright Zaber Technologies Inc Page 37 of 43 11 MANUAL CONTROL AND LED INDICATORS Turning the potentiometer knob on units so equipped 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 Clockwise rotation of the knob produces positive motion extension and counter clockwise rotation produces nega
49. t setting value in data bytes Behavior This causes the unit to return the current value of the setting number specified in Byte3 The unit will reply with the setting number in Byte2 as if a command to change the setting had just been issued but the setting will not be changed 8 27 Return Status 54 Firmware Version 4 17 and up Command Number 54 Data Bytes Ignored Reply Data Status Code See below for details Behavior version 4 17 and up This causes the unit to return a status code indicating the instruction it is currently executing if any The status codes are as follows 1 executing a home instruction 10 executing manual move ie the manual control knob is turned 20 executing move absolute instruction 21 executing move relative instruction 22 executing move at constant speed instruction 23 idle ie awaiting new instructions Behavior version 3 00 to 4 16 None Not implemented Copyright Zaber Technologies Inc Page 26 of 43 8 28 Return Current Position 60 Firmware Version All Command Number 60 Data Bytes Ignored Reply Data Current absolute position Behavior This causes the unit to return its current position in micro steps Copyright Zaber Technologies Inc Page 27 of 43 9 REPLY ONLY COMMAND REFERENCE In general a T series device will reply to an instruction using the same command number
50. teger 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 unit Most instructions cause the unit 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 data byte Copyright Zaber Technologies Inc Page 9 of 43 7 COMMAND QUICK REFERENCE The command quick references below provide a list of available commands at a glance A Detailed description of each command is given in the following section Command Quick Reference for Firmware version 4 21 Command Data Bytes Reply Data Pg Reset 0 Ignored None 12 Home 1 Ignored Absolute position 12 Renumber Ignored Device ID 13 Move absolute 20 Absolute position Absolute position 13 Move relative 21 Relative position Absolute position 14 Move at constant speed 22 Speed setting Echo of command data 14 Stop 23 Ignored Absolute position 15 Set home sensor scan 34 Home sensor scan distance Echo of command data 15 distance setting Read write EEprom 35 See detailed reference See detailed reference 16 Restore default settings 36 Ignored Echo of command data 16 Set micro step resolution 37 Micro step res
51. tive 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 unit from moving During manual moves the unit constantly returns its position so a computer can track the position even when you are controlling the unit manually Manual control can be disabled with a mode setting During operation if the plunger is extended or retracted against a force greater than its thrust capability the unit 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 plunger past a given position Without connecting a computer to home the device or set its position the only solution is to retract the plunger 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 The green LED is on whenever there is power to the device The amber LED flashes when there is traffic on the RS232 line It also stays on while the device is moving A constant blinking of the amber LED indicates that the power supply voltage is out of range
52. to the home sensor or actuator may result if this bit is set improperly 13 8192s Reserved Not implemented at this time Reserved for Set Maximum Limit Switch Logic 14 16384s Disable Power LED A value of turns off the green power LED It will still blink briefly immediately after powerup 15 32768s Disable Serial LED A value of turns off the yellow serial LED Copyright Zaber Technologies Inc Page 20 of 43 8 14 Set Start Speed 41 Firmware Version 3 00 to 3 99 Command Number 41 Data Bytes Bytes 3 to 5 set the start speed for absolute and relative moves by specifying the duration of a single micro step in units of 0 1 microseconds Reply Data Reply data is simply an echo of the command data Behavior version 4 00 and up Not implemented A linear acceleration routine is implemented in these version and the start speed is always O unless acceleration is turned off If acceleration is turned off the start speed is equal to the target speed Behavior version 3 00 to 3 99 Data represents the starting microstep period in units of roughly 0 1 us Data is specified in the same way as the Set Target Speed Command 42 below 8 15 Set Target Speed 42 Firmware Version All Command Number 42 Data Bytes Bytes 3 to 5 set the duration of a single micro step in units of 0 1 microsecond Other data bytes are ignored Reply Data Reply data is simpl
53. truction on each power up Behavior version 3 00 to 3 06 In these earlier firmware versions the renumber command will only be accepted if issued to all units 0 in byte 1 If issued to a single unit the command will be ignored Data bytes are always ignored The unit number is stored in non volatile memory so you can renumber once and not worry about issuing the renumber instruction on each power up 8 4 Move Absolute 20 Firmware Version All Command Number 20 Data Bytes Absolute position in micro steps Reply Data Absolute position after the move is finished Behavior The device moves to the position given by the data bytes The position must be within the acceptable range for the device 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 Copyright Zaber Technologies Inc Page 13 of 43 8 5 Move Relative 421 Firmware Version All Command Number 21 Data Bytes Relative position can be negative in micro steps Reply Data Absolute position after the move is finished Behavior The device moves to the position given by its position before the command plus the value in the data bytes The final position must be within the acceptable range for the device or an error code will be returned 8 6 Move at Constant Speed
54. uity on the proper pins by consulting the adapter pin out diagram below 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 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 numbering software may have been corrupted and the unit 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 units renumber Check that you transmit 6 bytes and that the unit 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 is functioning properly If the unit makes noise but does not move you may have a Stall condition see below Copyright Zaber Technologies Inc Page 39 of 43 The unit does not 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 you
55. vice will not retract below what it believes to be the zero position If the unit has missed steps due to a previous stall condition or if the unit 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 unit on and off and manually homing it Copyright Zaber Technologies Inc Page 40 of 43 13 DATA CABLE PINOUT DIAGRAM The tables below show the pin outs of communications connections on the device and on the serial adapter Device Pin Configuration Female PS2 Pin outs Male PS2 Pin outs Towards next unit Towards computer 1 Not connected Not connected 2 Receive from next unit Transmit toward computer 3 Ground Ground 4 12V Power 12V Power 5 Not Connected Not Connected 6 Transmit to next unit Receive from computer Serial Adapter Pin Configuration dai Min DB9 Function Din 6 2 2 Device Transmit Computer Receive 3 5 Ground 6 3 Device Receive Computer Transmit All Others Not Connected E DAN O O 987 6 Female DB9 Copyright Zaber Technologies Inc Page 41 of 43 14 WARRANTY All 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 th
56. y an echo of the command data Default Value 365 Behavior When a move absolute or move relative instruction is issued the device will accelerate at a rate determined by the acceleration setting up to a maximum speed determined by the target speed setting The data specifies the target speed in terms of the duration of a single micro step in increments of 0 1 us much like command 22 except only positive values are allowed To determine what speed will result from a given setting value the following formulas may be used 107 Speed microsteps sec or Data 107 A steps sec or Rx Data 60x10 f SS revolutions min SxRxData Where Data is the target speed setting value R micro steps step is the micro step resolution command 37 S steps revolution is the number of steps per revolution of the motor For example if S 48 R 64 and Data is set to the default of 365 then the target speed will be approximately 535 revolutions per minute For linear devices consult Appendix A to determine the linear distance corresponding to a single step or revolution Copyright O Zaber Technologies Inc Page 21 of 43 8 16 Set Acceleration 43 Firmware Version All Command Number 43 Data Bytes Acceleration setting A See below for details Reply Data Reply data is simply an echo of the command data Default Value 0 Behavior version 4 14 and up When the device moves i
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