A-BLQ-E Product User`s Manual Firmware 5.00 and up Last Update
Contents
1. e ecce e ee eee ee eee eren ee eee store stans sean sete ea setas esas essen sena 27 Comparison A BLO ESerles ite i biet e er er cevadtgestiesavedbuac dees ad LU ERE laces EEROR 31 Disclaimer Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where a product s use or failure could cause personal injury death or damage to property Zaber disclaims any and all liability for injury or other damages resulting from the use of our products Disclaimer Conventions used throughout this document eFixed width type indicates communication to and from a device The symbol indicates a carriage return which can be achieved by pressing enter when using a terminal program An ASCII command followed by T xx indicates a legacy T Series Binary Protocol command that achieves the same result Not all ASCII commands have an equivalent legacy counterpart e g move abs 10000 T 20 10000 shows that a move abs ASCII command can also be achieved with binary command number 20 e All devices support the Binary Protocol however the ASCII Protocol is only supported in devices with firmware version T 51 6 06 and above Conventions used throughout this document Device Overview NEXT Connectors Power Pin Description 1 12 48V 2 GND 3 Chassis RS232 Communications Pin Previous Next 2 Transmit Receive 3 Ground Ground ios GU T i 5 5 6 Receive2. i Network adapters Printer Port LPT1 I USB Serial Port COMI 3 0 Sound video and game controllers EH System devices Universal Serial Bus controllers In this example there is one serial port installed COM1 which is a USB adaptor A Linux 1 Finding devices Open a terminal and execute the following command dmesg grep E ttyU S The response will be similar to the following 2 029214 serial8250 ttyS0 at 1 0 0x3f8 irq 4 is a 16550A 2 432572 00 07 ttySO at I O 0x3f8 irq 4 is a 16550A 2 468149 0000 00 03 3 ttyS4 at I O Oxec98 irq 17 is a 16550A 13 514432 usb 7 2 FTDI USB Serial Device converter now attached to ttyUSBO This shows that there are 3 serial ports available ttySO ttyS4 and ttyUSBO a USB adaptor Appendix A Available Communications Ports 25 Linux 2 Checking port permissions Using the ports found above execute the following command ls 1 dev tty S0 S4 USBO The permissions given below show that a user has to be root or a member of the dialout group to be able to access these devices erw rw 1 root dialout 4 64 Oct 31 06 44 dev ttyS0 crw rw 1 root dialout 4 68 Oct 31 06 45 dev ttyS4 crw rw 1 root dialout 188 0 Oct 31 07 58 dev ttyUSBO 3 Checking group membership groups The output will be similar to the following adm cdrom sudo dip plugdev users lpadmin
3. No 6 06 The state of the home sensor limit eee eee Axis No 6 064 Whether the home sensor has been triggered AE de SERRE previously limit max Axis Yes 6 064 The maximum position the device can move to measured in microsteps Quick Device Settings 14 mit min Axis Yes 6 064 The minimum position the device can move to E measured in microsteps maxspeed Axis Yes 6 064 The maximum speed the device moves at motion accelonly Axis Yes 6 064 Sets the acceleration used to increase the speed a cur c Axis Yes 6 06 Sets the deceleration used when decreasing the molon dece ony speed pos Axis Yes 6 064 The current absolute position of the device resolution Axis Yes 6 064 Microstep resolution ads Device No 6 144 The number of stream buffers provided in the aa device stream numstreams Device No 6 144 The number of streams provided in the device system access Device Yes 6 06 Sets the access level of the user system axiscount Device No 6 06 The number of axes in the device system led enable Device Yes 6 06 Enables the front panel LEDs system serial Device No 6 15 The serial number of the device M Device No 6 064 The current temperature of the unit in degrees sysem emperature Celsius system voltage Device No 6 06 The voltage being applied to the device version Device No 6 06 The firmware version of the
4. 17 Troubleshooting A Series Closed Loop Motion Devices The following sections contain tips for troubleshooting common problems with the A Series devices If the device is unable to communicate and it is operating erratically a manual factory reset can be performed as a last resort through the following steps 1 Power Off the device 2 Push and hold the knob for the first Axis if applicable 3 Power On the device 4 Continue to hold the knob in until the Blue LED is lit 5 seconds release the knob The device has been returned to its factory defaults and can be configured per the steps in Initial Setup Front Panel Indicators Green LED On The device is powered on and operating normally Green LED Fades In and Out The device is parked Issue a tools parking T 65 unpark command or home T 1 the device Green LED Flashes Slowly The operating conditions of the device are outside of the recommended range This will occur when the supply voltage is either over or under the recommended range the internal temperature has exceeded the set limit or the driver has disabled Check the following 0 The input voltage within the operational range of the device This can be read from the device with the get system voltage command 0 The device temperature is within range This can be read from the device with the get system temperature command 0 The driver is not disabled If the driver is disabled the result of the warnings command wil
5. Transmit Default Settings Baud Rate 9600 Protocol Binary Specifications e Supported Protocols Zaber ASCII Zaber Binary Device Overview e Supported Baudrates 9600 19200 38400 57600 115200 Bits 8 e Parity None e Stop Bits 1 Flow Control None Indicators PWR Green Power On Controller is operational Blinking at 2Hz The power supply voltage or device temperature is out of range Fading in and out slowly The device is parked See the tools parking T 65 command ERR Red Error On blinking Controller has lost its settings or an error has occurred Please contact Zaber Technical Support MOT Yellow Communication Busy On Device is moving or data is being transferred Blinking Device is under manual control via the knob in Velocity mode The blinking rate is proportional to movement speed Blinking at fixed rate Packet corruption has occurred for ASCII commands sent with a checksum ENC Blue Slip Stall On The device is slipping 2 short flashes every 1 sec The stationary device has been forced out of position On Off cycle every 2 sec The device has stalled and stopped RS232 Communications Installation The A BLQ E can be connected to a computer as follows 1 Either plug the Mini DIN to D Sub serial adaptor T DSUBO9 into your computer s serial port or the Mini DIN to USB adapter T USBDC into one of your computer s USB ports then p
6. being installed 1 Power up all integrated devices and controllers in the chain The power indicator on each should light up 2 Download and install Zaber Console from http www zaber com wiki Software Start Zaber Console and select the communications port the first controller is connected to For instructions on how to find the available communication ports on your system please refer to Appendix A Available Communications Ports 3 From the Console issue a renumber T 2 command to all devices The first device closest to the computer in the chain will become device 1 the next device 2 and so on DEVICE 1 DEVICE 2 TO DEVICE 3 Initialization Every time the device is powered up or reset the motorized peripheral s need to be returned to the home position before they can be used This is achieved by sending the home T 1 command to the individual unit or all units Attempting to move the peripheral before it has been homed will result in an error as shown below 01 move rel 10000 01 0 RJ IDLE WR BADDATA If the device is being used under manual control the motorized peripherals need to be driven to the minimum home position before they will operate over their full range Quick Tutorial 7 Using the Device Several commonly used ASCII commands and their Binary equivalents are shown below For a full list of the available commands please refer to the Command Reference section below Command Descriptio
7. devices 010 1 stop stop device number 1 010 12 stop stop device number 1 axis number 2 01 0 01 0 Type help commands for a list of all top level commands 01 0 Type help reply for a quick reference on reply messages 01 0 Visit www zaber com support for complete instruction manuals To access help for a specific command for example the move command send 1 help move 01 0 OK IDLE O 01 0 move abs x Move to absolute position 01 0 move rel x Move by relative position 01 0 move vel x Move at constant velocity Using the Device 8 01 0 move min Move to minimum position 01 0 move max Move to maximum position Built In Help Manual Control The A Series range of motion control products are integrated with a depressible knob with 20 detents per revolution allowing devices to be controlled without the use of a computer There are two manual movement modes available Velocity and Displacement switch between these modes by holding down the knob for 1 second or via configuring the knob mode T 109 setting Upon power up the device will only travel towards the motor from its start up position until the home position is reached Once the device has been manually homed the full range of travel becomes available Velocity Mode Turn the knob clockwise to move the device in the positive direction extend or counter clockwise for negative direction retract Each detent of the knob increases the speed of the
8. other serial ports in the software Manual Control 19 0 Check the baud rate hand shaking parity stop bit etc when configuring the serial communications software The required settings are listed in the RS232 Communications section above 0 Make sure there are no bent pins in the ends of all the data cables 0 Make sure the device is powered the Green LED should be on 0 If the computer is a laptop running on batteries try plugging in the power Some laptops disable the serial ports when running on batteries 0 Make sure a null modem adaptor or cable is not being used 0 Make sure the correct adaptors if any are being used Refer to the pinouts in the RS232 Communications section above 0 If the problem encountered when trying to control the device with custom software try using one of the demo programs from the Zaber website to verify that the hardware is functioning properly The yellow light comes on briefly when sending a command but the device does not move and does not reply Check baud rate hand shaking parity stop bit etc are set as per the RS232 Communications defaults The device numbers may not be what is expected issue a system renumber T 2 command Make sure that the computer does not transmit anything else while the devices renumber If using the binary protocol check the following 0 6 bytes are transmitted and that the device number and command are valid 0 The software does not transmit any contr
9. A BLQ E Product User s Manual Firmware 5 00 and up Last Update December 10 2015 Visit www zaber com wiki for more recent updates Zaber Technologies Inc 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 D Table of Contents UEM ETT A ETIN ERU CIE UP EN 1 Conventions used throughout this documenht eee eee eee eee ee ee ee ee ee eee seen sese en eee en setate sense seen aee ea aee 2 ERA E 3 Connector ad a a aida od tibia 3 Igor 3 S232 COMMUNICA ONS een I eet eb see ecet see es sede oe let ee EP i Tener n 3 Indi atorsa NRO 4 A UU UE c 5 Daisy Chaining Devices iie RN 5 Grounding ia ea ai me OD IE POTUM ORE GRE MI ORE ESTA 6 inte eine E A A E S P Sv E A E iaa cited 7 A RR RA 7 In ti hzation ERO E mE CE 7 Using the Device oo re an Ao 8 Modifying Device Settings escondido 8 Built In Help O ati ERR ERN A EHE CU Ree S 8 GENE O ESSERE STUDIEREN 10 NS tote teen tat deese iuda cel EN 10 Displacement Mode cota eet berries inest eee E A ed Edu pee E das Ree dete ue le te Ege vt 10 Summary of knob functionality oooonnnccnnnccnnnccnonancnonaconnnononnccnncnonnnannnnocnnn nennen innen eene enne ne ntes innen 10 Trajectory Control and Behavi0u lh sicsscccsscccssescsssssevesssestoseccssusaesconssseoscsenasovasesaeedseccsedesssendsesesesesvesavesenessons 11 Software Position LM dt ri 11 INES E O RATE 11 Quick Command Referencia aida EE E ae epe eEe Ue PUR da
10. Set Acceleration Set Maximum Position Set Current Position Set Home Offset Set Alias Number Return Device Id Return Firmware Version Return Power Supply Voltage Return Setting Return Status Echo Data Return Firmware Build Return Current Position Return Serial Number Set Park State Set Auto Reply Disabled Mode Set Message Id Mode Set Home Status Set Minimum Position Set Knob Disabled Mode Set Knob Direction Set Knob Movement Mode Set Knob Jog Size Set Knob Velocity Scale Set Knob Velocity Profile Set Acceleration Only Set Deceleration Only Binary Protocol 21 22 23 36 37 38 39 40 41 42 43 44 45 47 48 50 51 52 53 54 55 56 60 63 65 101 102 103 106 107 108 109 110 111 112 113 114 Relative Position Speed Ignored Peripheral Id Microsteps Value Value Mode Speed Speed Acceleration Range New Position Offset Alias Number Ignored Ignored Ignored Setting Number Ignored Data Ignored Ignored Ignored Park State Auto Reply Mode Message Id Mode Home Status Knob Disabled Mode Direction Movement Mode Jog Size Velocity Scale Velocity Profile Acceleration Deceleration Minimum Position Command Command Command Command Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Read Only Setting Read Only Setting Read Only Setting Comman
11. ale on our website All standard Zaber products are backed by a one month satisfaction guarantee If you are not satisfied with your purchase we will refund your payment minus any shipping charges Goods must be in brand new saleable condition with no marks Zaber products are guaranteed for one year During this period Zaber will repair any products with faults due to manufacturing defects free of charge Custom products Custom products are any part numbers containing the suffix ENG followed by a 4 digit number Each of these products has been designed for a custom application for a particular customer Custom products are guaranteed for one year unless explicitly stated otherwise During this period Zaber will repair any products with faults due to manufacturing defects free of charge How to return products Customers with devices in need of return or repair should contact Zaber to obtain an RMA form which must be filled out and sent back to us to receive an RMA number The RMA form contains instructions for packing and returning the device The specified RMA number must be included on the shipment to ensure timely processing Warranty and Repair 22 Email Updates If you would like to receive our periodic email newsletter including product updates and promotions please sign up online at www zaber com news section Newsletters typically include a promotional offer worth at least 100 Email Updates 23 Contact Information Contac
12. amage to the device due to static buildup the device should be properly grounded Failure to ground the unit may result in the unit shutting down unexpectedly or ceasing to communicate with the computer This problem can be minimized by not touching the unit during operation If the unit fails due to static discharge unplugging it and plugging it back in or sending a system restore T 36 command will usually fix the problem Most Zaber devices are grounded via the shield wire of the data cables This should normally provide a path to ground via the computer For units which are being used without a computer a ground lead should be connected to the chassis pin of the power supply connector Note Encoder embedded devices are sensitive to electrically noisy environments Static discharges can affect position calibration and cause unstable behaviour If the device is behaving strangely verify that the device is properly grounded reset the device either by the system reset T 0 command or by disconnecting then reconnecting power then re initialize the device with the home T 1 command Daisy Chaining Devices 6 Quick Tutorial The following tutorial uses Zaber Console to communicate with the device s Please refer to the ASCII Protocol Manual and or Binary Protocol Manual for detailed information on the available commands and how to setup and use other software Initial Setup The following steps need to be performed whenever a new unit is
13. carriage There are 16 speeds in each direction The velocity profile and maximum speed can be configured via the knob speedprofile T 112 and knob maxspeed T 111 settings The device stops and resets the knob upon arriving at the end of travel Displacement Mode Turn the knob clockwise to move the device in the positive direction extend counter clockwise for negative direction retract Each detent of the knob moves the device a fixed number of microsteps specified by the knob distance T 110 setting The device moves at the speed specified by the maxspeed T 42 setting or the slower of speed and limit approach maxspeed T 41 if the device has not been homed If there are fewer than knob distance T 110 microsteps to the end of travel and another move is requested the device will move to the end of travel and then stop Summary of knob functionality e Turning the knob Moves the device in the direction of knob turn Pressing the knob Decelerates and stops the device identical to a Stop command Instantly stops the device if the device is already decelerating Pressing and holding the knob for 1 sec Toggles between Velocity Mode and Displacement Mode Manual Control 10 Trajectory Control and Behaviour This section describes the behaviour of the device trajectory when a movement command is issued Software Position Limits The travel range of the device is confined by the Minimum Position and Maximum Position set
14. ch maxspeed 1 41 settings Other movement commands When device has been homed The device will move at the speed specified by the maxspeed T 42 setting Trajectory Control and Behaviour 11 Quick Command Reference A Series devices ship with either the ASCII or Binary protocol enabled by default Please refer to the RS232 Communications section above to see the default protocol for the A BLQ E ASCII Protocol The following table offers a quick command and setting reference for the A BLQ E Follow the links to view a detailed description of each instruction or refer to the ASCII Protocol Manual Quick Commands Parameters in square brackets e g clr indicate that the parameter is optional Parameters in italics e g value indicate that data typically a number needs to be provided Parameters separated by a pipe e g abslrel indicate that one of the parameters in the set need to be provided Firmware Or Command Scope Parameter s Returns 1 Description Versions Instantly stops estop Axis 0 6 06 motorized movement Retrieves the e Device and Leur value 6 064 current value of ect Axis 8 i the device or axis setting commands Displays the help help Device reply 0 6 06 information for the command system Moves the axis to home Axis 0 6 06 a Ed the home position abslrellvel value Moves the axis to move Axis minlmax 0 6 06 various positions stored number along its t
15. d Read Only Setting Command Read Only Setting Read Only Setting Read Only Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Final Position Speed Final Position Peripheral Id Microsteps Value Value Mode Speed Speed Acceleration Range New Position Offset Alias Number Device Id Version Voltage Setting Value Status Data Build Number Position Serial Number Position Auto Reply Mode Message Id Mode Home Status Minimum Position Knob Disabled Mode Direction Movement Mode Jog Size Velocity Scale Velocity Profile Acceleration Deceleration 16 Set Move Tracking Mode 115 Tracking Mode Setting Tracking Mode Set Manual Move Tracking Disabled Mode 116 Tracking Mode Setting Tracking Mode Set Move Tracking Period 117 Tracking Period Setting Tracking Period Set Closed Loop Mode 118 yoo Setting Closed Loop Mode Set Slip Tracking Period 119 Tracking Period Setting Tracking Period Set Stall Timeout 120 Timeout Setting Timeout Set Baud Rate 122 Baud Rate Setting Baud Rate Set Protocol 123 Protocol Setting Protocol Convert To Ascii 124 Baud Rate Command Baud Rate Error 255 n a Reply Error Code The settings for these commands are saved in non volatile memory i e the setting persists even if the device is powered down To restore all settings to factory default use command 36 Binary Protocol
16. device version build Device No 6 17 The build number of the device s firmware Binary Protocol The following table offers a quick command reference for the A BLQ E 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 or refer to the Binary Protocol Manual Instruction Name Reset Home Renumber Read Register Set Active Register Write Register Move Tracking Limit Active Manual Move Tracking Manual Move Slip Tracking Unexpected Position Store Current Position Return Stored Position Move To Stored Position Move Absolute Binary Protocol Command Command Data g Reply Data 0 Ignored Command None 1 Istored Command Final position in this case 0 2 Ignored Command Device Id 5 Register Address Command Data 6 Register Address Setting Register Address 7 Data Command Data 8 n a Reply Tracking Position 9 n a Reply Final Position 10 n a Reply Tracking Position 11 n a Reply Final Position 12 n a Reply Tracking Position 13 n a Reply Final Position 16 Address Command Address 17 Address Command Stored Position 18 Address Command Final Position 20 Absolute Position Command Final Position 15 Move Relative Move At Constant Speed Stop Restore Settings Set Microstep Resolution Set Running Current Set Hold Current Set Device Mode Set Home Speed Set Target Speed
17. ecognize and remove specific control characters such as carriage returns when they appear in the RS232 receive buffer Check the settings are correct and not removing or replacing characters Communication Errors 20 Slipping and Stalling The device moves smoothly but only moves for a short time then stops The blue LED is flashing but the device is not actually slipping or stalling The internal encoder counter needs to be re initialized Reset the device by power cycling it or sending system reset T 0 command then re initialize it with the home T 1 command Ground the device and avoid operating it under statically noisy environment The device makes noise but does not move Blue LED is flashing The device is stalling Try removing all external loads If the device now extends and retracts normally the problem is excessive load Try to reduce the load and ensure the load is less than the maximum thrust A higher thrust or torque can be achieved by lowering the speed of the device using the maxspeed 1 42 setting If a device is stalling with no external load at default speed and acceleration settings then it requires servicing Slipping and Stalling 21 Warranty and Repair For Zaber s policies on warranty and repair please refer to the Ordering Policies Standard products Standard products are any part numbers that do not contain the suffix ENG followed by a 4 digit number Most but not all standard products are listed for s
18. knob with push switch 1 Appendix B Tensioning The Timing Belt Alternate Unit lt 0 000394 lt 0 001969 0 00010 s 0 00010 s 2 000 states rev 4 5 lb 4 5 Ib 44 9 lb 849 7 oz in lt 0 000512 lt 0 000512 2 125 30 Mounting Interface M6 threaded holes and 8 32 threaded holes Vacuum Compatible No Operating Temperature Range 0 to 50 degrees C Stage Parallelism 100 um 0 003937 RoHS Compliant Yes CE Compliant Yes Comparison A BLQ E Series Part Number Travel Range Accuracy unidirectional Maximum Speed Weight A BLOQO0070 E01 A BLQO145 E01 A BLOO295 E01 A BLQO445 E01 A BLOOS95 E01 A BLOI1045 E01 A BLO1495 E01 A BLQ2095 E01 A BLO3000 E01 Comparison A BLQ E Series 70 mm 2 756 145 mm 5 709 295 mm 11 614 445 mm 17 520 595 mm 23 425 1045 mm 41 142 1495 mm 58 858 2095 mm 82 480 3000 mm 118 110 200 um 0 007874 200 um 0 007874 400 um 0 015748 600 um 0 023622 700 um 0 027559 1000 um 0 039370 1500 um 0 059055 2000 um 0 078740 3000 um 0 118110 1100 mm s 43 307 s 1600 mm s 62 992 s 2000 mm s 78 740 s 2000 mm s 78 740 s 2000 mm s 78 740 s 2000 mm s 78 740 s 2000 mm s 78 740 s 2000 mm s 78 740 s 2000 mm s 78 740 s 1 62 kg 1 82 kg 2 147 kg 2 25 kg 2 55 kg 3 6 kg 3 98 kg 4 99 kg 6 4 kg 31
19. l contain the FD flag Green LED Off The device is not powered Check the supply connections and power adaptor for correct operation Red LED On or Flashing A critical error has occurred Please contact Zaber Technical Support Blue LED On or Flashing The device has slipped or stalled Please see the Slipping and Stalling section below Yellow LED Always Off or Flashes but No Reply There are communication errors Please see the Communication Errors section below Troubleshooting A Series Closed Loop Motion Devices 18 Manual Control Turning the knob either way results in no movement The knob may have been disabled Check that the knob enable T 107 setting is correct Restore the default parameters through the system restore 1 36 command The device won t cover the full range of travel The device hasn t been homed Turn the knob anti clockwise until the device reaches the fully retracted position closest to the motor The device will home and the full range of travel available Unexpected Behaviour The device doesn t respond to a move command The device needs to be homed before use Send the home T 1 command The device is moving on its own and running against the ends of travel The position encoder has de synchronized Reset the device by power cycling it or sending system reset T 0 command then re initialize it with the home T 1 command Ground the device and avoid operation under a statically noisy enviro
20. ll be much too tight and could damage the belt or tensioning mechanism 8 If the belt is close to the right tension but the tuner still does not register a note try attaching a metal plate or bracket to the stage top and clamp the tuner to that This mounting should pick up the belt vibrations more easily If the tuner is having difficulty picking up the belt vibration try indirectly attaching it to the stage top as shown Appendix B Tensioning The Timing Belt 29 Specification Microstep Size Default Resolution Integrated Controller Repeatability Backlash Minimum Speed Speed Resolution Encoder Resolution Encoder Type Peak Thrust Maximum Continuous Thrust Communication Interface Communication Protocol Maximum Centered Load Maximum Cantilever Load Guide Type Vertical Runout Horizontal Runout Maximum Current Draw Power Supply Linear Motion Per Motor Rev Motor Steps Per Rev Motor Type Inductance Default Resolution Data Cable Connection Mechanical Drive System Limit or Home Sensing Manual Control Axes of Motion Value 4 21875 um Yes lt 10 um lt 50 um 0 0026 mm s 0 0026 mm s 500 CPR Motor mounted rotary quadrature encoder 20 N 20 N RS 232 Zaber ASCII Zaber Binary Default 200 N 600 N cm Roller bearing lt 13 um lt 13 um 1100 mA 24 48 VDC 53 97 mm 200 Stepper 2 phase 2 8 mH phase 1 64 of a step Minidin 6 M F Synchronous belt Magnetic home sensor Indexed
21. lug the device s data cable into the adaptor For the USB adaptor new computers will often be able to install the necessary drivers automatically when the cable is plugged in for the first time If the computer reports that the driver installation was unsuccessful you can download the drivers for Windows Mac or Linux here Installation instructions and troubleshooting information are available for each operation system here You may need to use a cable extension to reach your computer There is no need to power down or reboot the computer 2 Connect the power plug of your power supply to the power connector of the unit The green LED should light up indicating the unit has power 3 Additional devices can simply be daisy chained to the first See Daisy Chaining Devices below 4 Install software from http www zaber com wiki Software For the initial setup it is recommended that Zaber Console is used As a simple first test try entering these instructions renumber T 2 1 home I 1 1 move rel 10000 T 21 10000 The parameter of 10000 in the move command above specifies 10000 microsteps To see the microstep size default resolution for the device and how it translates to displacement first go to the product overview page find your device click through to the device s webpage and click on the Series Specs tab The microstep size default resolution will be shown in the list of product specs either in the Group Specificati
22. n 1 1 getpos 1 60 Query the current position of device 1 axis 1 1 1 move abs 10000 T 20 10000 Move device 1 axis 1 to position 10000 microsteps Baers T 21 12800 Move device 2 axis 1 in the negative direction by 12800 microsteps Decelerate and stop ALL axes on device 1 1 stop 1 23 An axis number of 0 or no no axis number implies all axes on the devices or the device itself Move ALL devices and ALL axes in the positive direction at the speed 153600 A device address of 0 or no device address implies all devices in the chain Modifying Device Settings move vel 153600 T 22 153600 Here are some examples if you would like to customize particular device settings Refer to the ASCII Settings or Command Reference section for detailed descriptions of each setting Command Description 1 set maxspeed 100000 T 42 100000 Set the speed of the all axes on the device 1 get maxspeed T 53 42 Query the axes speed 1 system restore T 36 Restore all the settings of device 1 to the default Built In Help Zaber A Series devices with ASCII support feature a built in help guide providing a quick and easy reference for all Commands and Settings that the device has To access the help send 1 help The device will respond with a detailed description on how to access specific information about commands and replies as shown below 01 0 OK IDLE WR O 01 O COMMAND USAGE 010 stop stop all
23. na ER Ine EUR 12 ASCIHUPEOtOGCOLO tenet etcetera eoe ee Net duele veceote ete diesen ee ee 12 Quick Commands n nettes eie orte c re He Bine ED is 12 Quick DEVICE Settings uso eoque tre Een eR OR EP IS UR S e DARE ENCU SEEN IEEE Y ere Ie gue TURO 13 Binary Protocol rr ie erede dida ib eiii bis 15 Troubleshooting A Series Closed Loop Motion Devices 18 Front Panel Indicators tbe eet eee slaw a Soaked ean eot et est ocala 18 Manual Eontrol om estet le hn Uae Gale ete oe Eat ec hades do et 19 Unexpected BEI UE calcita Ian eee ite eee e eee e Ege EE ENTE Te d ee eh ue Pee ce in gue 19 Communication ETEOES 7 oti eh erede cams Mosca diee loon e Piet Dose Er e tes Lo A 19 Slipping and Salle 21 AAA ans seeeeereereeeeeeeeeeeeeeereeeee 22 Standard products lesen aka anne eeiipebsiinseteie 22 Custom Products i lan RI ais 22 Table of Contents Mail MIETEN TETTE TIL ER 23 Contact EO WHELLIO ETE CE vs sdessvoceecs sede soseccecvsevaseseeceensuseveseseedeaseces 24 Appendix A Available Communications Ports eee eee e eee ette ee eren eto te sten a etta sesto setae etas e seen s eaa 25 Finding Installed Serial Ports 2 1 e RO re re e er newbie rici tere eee 25 WINDOWS sit estie see eerie esee de o eese eve ee opto tese Unete tun ce Msc o Deae ue UE un Crea ra are er aa 25 JETER RECEN ME 25 Appendix B Tensioning The Timing Belk
24. nment The device is moving very slowly It used to move faster The speed settings may have been changed inadvertently Send a system restore 1 36 command The device makes louder than normal noise during travel and is frequently slipping This condition happens if the thrust needed is more than the thrust available from the device Check the following 0 The force on the device is less than the maximum thrust 0 The voltage using the get system voltage command Voltage less than the specified voltage for the device will reduce the device s maximum thrust Test the following 0 Try a slower target velocity Stepper motors produce more thrust when moving slowly 0 Try a lower acceleration and deceleration 0 Clean the screw and lightly re grease it with a grease that does not degrade plastics The device has repeatability errors smaller than 4 full steps If steps aren t being skipped friction or loose parts may still cause some variation when returning to a position Please contact Zaber Technical Support The device doesn t cover the full range of travel or runs into the end A setting might have been inadvertently changed 9 home T 1 the device to see if this corrects the behaviour 0 Send a system restore 1 36 command Communication Errors There is no communication with the device the Yellow LED does not come on or flash There are several things should be checked 0 Make sure the correct serial port is selected Try selecting
25. ode 4 Pluck the belt in between the motor pulley housing and the carriage The tuner should register a note When the belt is properly tensioned this note should be C2 65 4 Hz Appendix B Tensioning The Timing Belt 27 Pluck belt to measure tension m Read the note picked up by the tuner 5 Make adjustments to the belt tension with the M4 screw loosened about 1 4 turn from tight The screw and the belt clamp under the stage top need to be able to slide along the slot To increase the belt tension turn the setscrew clockwise pushing the belt clamp towards the middle of the stage top To decrease belt tension turn the setscrew counter clockwise Loosen M4 screw then adjust setscrew to tighten or loosen belt 6 Try to set the belt tension to about a B2 note The tension will increase by about a semitone e g B to C or C to C when the M4 screw is tightened The final tension should be within 25 cents of C2 1 semitone 100 cents Appendix B Tensioning The Timing Belt 28 m The final tension should be close to C2 7 The tuner may not initially register a note if the belt is too loose As a rough guideline you can hear what a C2 sounds like at www tunemybass com select 4 string base with drop C tuning then mouse over the lowest string to hear tone It is a good idea to get a rough idea of what the tensioned belt will sound like so that you don t try to tune it to a C3 note an octave higher than C2 This wi
26. of driver current hold and EPA driver current run driver current run Axis Yes 6 06 Current used to drive the motor in 25 mA units encoder count Axis Yes 6 06 The recorded counts of the axis encoder encoder error Axis No 6 17 Position error measured by encoder encoder pos Axis No 6 17 Position measured by encoder knob dir Axis Yes 6 064 Sets the movement direction for the knob Sets how far the device moves with each step of knob distance Axis Yes 6 064 the knob in displacement mode in units of microsteps knob enable Axis Yes 6 064 Disable the use of the knob when set to 0 Ed lp EH Axis Yes 6 06 The maximum speed that can be reached using Snop maxspeec the knob in velocity mode as Axis Yes 6 06 Sets the mode of the knob 0 for velocity mode REPE E for displacement mode knob speedprofile Axis Yes 6 06 Sets the profile to be used per increment when in EEE velocity mode RE EN laste lives 6 064 Maximum speed used when approaching a limit punt approach maxspecc sensor limit detect decelon Axis Yes 6 064 Deceleration used when stopping after a limit pum dee cec on y sensor has triggered limit detect maxspeed Axis Yes 6 064 DECOR O On a limit sensor thone nos Axis Yes 6 06 The updated position of the sensor when HIDE AQre pos triggered limit home posupdate Axis Yes 6 06 Pon PO a triggered limit home preset Axis Yes 6 06 The default position of the home sensor limit home state Axis
27. ol characters such as line feed and spaces 0 That the serial port is not configured with a termination character it often defaults to linefeed If problems are encountered when using custom software try using one of the demo programs from the Zaber website to verify that the hardware works The device does not behave as expected when software sends it a series of commands The computer might be set to Unicode This is common for languages that use non Latin based characters Go to Control Panel Regional and Language Options Advanced Select a language for non unicode programs This should be English or another Latin based character language Check what is being sent out of the serial port stackoverflow com has a list of some tools to monitor serial ports In Binary mode the device does not send replies but otherwise works Auto reply might have been disabled via T 101 Send a system restore 1 36 command If the problem is encountered when trying to control the device with custom software 0 Use a demo program from the Zaber website to verify that the hardware is functioning properly 0 Make sure that the receiving part of the code or commercial package is correct 0 Check the serial port settings are correct Check connectors for bent or broken pins In Binary mode the device sometimes returns fewer than 6 bytes This typically indicates a problem with the serial port settings Some serial ports are set to automatically r
28. on is met warnings Axis clear 0 6 06 Displays the active device and axis Warnings optionally clearing them if applicable Quick Device Settings The settings listed below can be inspected and modified with the get and set commands described above y Firmware ite Setting Scope Writable Versions Description accel Axis Yes 6 064 Sets the acceleration used to modify the speed cloop mode Axis Yes 6 064 Sets the closed loop control mode The amount of time to wait after a cloop stalltimeout SH ques exer stall displacement condition in milliseconds Quick Commands 13 comm address Device Yes 6 064 The device address bank aom Device Yes 6 064 The device will send alert messages when this Br setting is 1 onm checkin Device Yes 6 064 The device includes checksums in its messages if this setting is set to 1 aten Device Yes 6 06 The communications protocol used by the device on the current interface comm rs232 baud Device Yes 6 06 The baud rate used by RS232 Prev and Next WER interfaces comm rs232 protocol Device Yes 6 09 icone a ys ce DOW ane Nex interfaces deviceid Device No 6 06 The device id for the unit ils Saree ais Axis le 6 064 Current used to hold the motor in position in 25 Pes a mA units Hope AREE Axis No 6 16 Maximum legal value
29. ons section or the Comparison section Daisy Chaining Devices Multiple devices can be connected together in a chain through the Prev and Next or USB and Next connectors This allows any number of devices to be controlled from a single connection to a computer reducing cabling demands A power supply needs to be connected to each device in the chain Whenever a device is added or removed from a chain a renumber 1 2 command should be sent to prevent device address conflicts Installation 5 Zaber recommends having two separate chains when the connector types differ To daisy chain devices with different connectors the following steps should be followed e DSUB9 and MiniDin 6 with firmware version at or below 6 05 Binary Protocol Chain The DSUB9 devices comm protocol 1 123 should be set to 1 Binary and the comm rs232 baud 1 122 set to 9600 The DSUB9 devices should be chained together closest to the computer A T DSUB connector can be used to connect the two strings of devices together e DSUBO and MiniDin 6 with firmware version at or above 6 06 ASCII Protocol Chain The Minidin6 devices comm protocol T 123 should be set to 2 ASCII and the comm rs232 baud T 122 set to 115200 The DSUB9 devices should be chained together closest to the computer A T DSUB connector can be used to connect the two strings of devices together For assistance please contact Zaber Technical Support Grounding To prevent d
30. ravel Renumbers all renumber Device value 0 6 06 devices in the chain Sets the device or Device and i set setting value 0 6 06 axis setting setting Axis to the value Decelerates the stop Axis 0 6 06 axis and brings it to a halt Performs an action related to Refer to the Refer to the stream Device 6 12 streamed Pe documentation documentation interpolated multi axis motion Quick Command Reference 12 system reset Device SY stem restore Device 6 06 Resets the device as it would appear after power up 6 06 Restores common device settings to their default values tools echo Device message 0 6 06 Echoes the provided message if any back to the user tools sotolimit Axis limit dir action update 0 6 064 Moves the axis to a limit sensor and performs the provided actions tools parking Device statelparklunpark 011 6 06 Parking allows the device to be turned off and used at a later time without first having to home tools setcomm Device rs232baud protocol 0 6 06 Sets RS232 baud rate and communication protocol for RS232 and USB tools storepos Axis number positionlcurrent Olposition 6 064 Stores a number of positions for easy movement Device Refer to the documentation 6 064 Configures actions to be performed on the device when a certain conditi
31. sambashare Notice that dialout is not in the list A user can be added to the dialout group with the following command sudo adduser SUSER dialout Group membership will not take effect until the next logon 26 Appendix B Tensioning The Timing Belt Although BLO stages ship with the timing belt properly tensioned it may at some point become necessary to re tension it Maintaining the belt at its proper tension will ensure you are getting the best performance out of the stage Included with each BLQ stage is a clip on instrument tuner that when used as described below is very effective at setting the belt to a precise tension To tension the timing belt 1 Plug stage into PC and move to absolute position of 68960 microsteps If the stage is shorter than 295 mm travel move the carriage to a position of 34270 microsteps and tune to B 123 5 Hz instead of C 65 4 Hz as described below For a BLQ0075 move the carriage into contact with the home position bumpers and tune the other side of the belt to G 207 Hz The tuning procedure works better if the stage is not bolted down to anything 2 Attach instrument tuner to motor pulley housing as shown below Tuner must not be touching the belt Position stage to absolute position of 68960 and attach tuner as shown 3 Make sure the tuner is set to vibration VIB mode Turn on by pressing the large grey button on the front Make sure tuner is set to vibration m
32. t Zaber Technologies Inc by any of the following methods Phone 1 604 569 3780 direct 1 888 276 8033 toll free in North America Fax 1 604 648 8033 Mail 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 Web www zaber com Email Please visit our website for up to date email contact information The original instructions for this product are available at http www zaber com wiki Manuals A BLO E Contact Information 24 Appendix A Available Communications Ports Finding Installed Serial Ports Windows 1 Right click on Computer or My Computer and select Manage Map Network Drive Disconnect Network Drive Create Shortcut Delete Rename Properties 2 Select Device Manager from the Computer Management list 3 Expand the Ports COM amp LPT category A amp File Action view Window Help E aj x e Am E amp i2 PB A SA VM WIN NATHAN 18 Computer Management Local B u System Tools E LJ Batteries E a Event Viewer E Mj Computer El Shared Folders Ele Disk drives E 2 Local Users and Groups El 2 Display adapters E Performance Logs and Alert Eh DVD CD ROM drives a Device Manager H E Human Interface Devices Sg Storage H IDE ATA ATAPI controllers Ej Removable Storage H 5 Keyboards Disk Defragmenter W Mice and other pointing devices 69 Disk Management El 3 Monitors iz Sa Services and Applications
33. tings The factory settings for the devices are configured to match the physical travel range If a customized range is desired it can be changed via configuring the limit min T 106 and limit max T 44 settings to appropriate values Minimum Position When Current Position is less than the Minimum Position value the device cannot move in the negative direction towards the motor Maximum Position When Current Position is greater than the Maximum Position value the device cannot move in the positive direction away from the motor Movement Speed The movement speed of the device depends on device status and various speed settings If the device has not been initialized by the home T 1 command or by moving towards the home end of the device movement speed will be constrained to fail safe values The home status of the device can be determined by reading the limit sensor triggered T 53 setting for the home sensor The binary command additionally requires a value of 103 Movement speed of the device is specified below move vel T 22 The device will move at the specified speed regardless of home status Knob manual movement in Velocity Mode The device will move at the specified speed regardless of home status The speed is specified by the knob speedprofile T 112 and knob maxspeed T 111 settings Other movement commands When device has not been homed The device will move at the slower of the maxspeed T 42 and limit approa
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