Getting Started Guide - Zaber Technologies Inc
Contents
1. luas A Nee Levi f Fer brush A Pard 1 M Taba pasph Kruse Venat Sars Hasi k 20027 Feri on nn TS usas mm C IP ZABER TECHNOLOGIES INC Control Software Once your Zaber device is powered and connected to a computer you are ready to start controlling it To begin communicating with your device you will need to select a software interface The sections below outline some of the software options available to you Zaber Console Zaber Console is free open source software that is designed for ease of use Zaber Console allows you to manage port communication identify devices send commands to devices and set the units of measure The application also makes it easy for you to create and run your own scripts using several NET programming languages such as Python CZ or JavaScript We strongly recommend using Zaber Console for the initial set up and troubleshooting of your device Source code for Zaber Console and a user manual is available online at www zaber com software ZaberConsole LabVIEW Zaber s devices can be used with LabVIEW s graphical programming environment We provide certified drivers and examples online Binary www zaber com software LabVIEWBinary ASCII www zaber com software LabVIEWASCII Our Customer Support team is also available for additional support advice and troubleshooting Programming Libraries Libraries with APIs are available in several program2. Peripherals CAUTION To avoid damaging the peripheral it is important to configure its controller before you connect them together Please see the section on setting the Peripheral ID in the Configure section page 12 of this guide for more information Vacuum Devices While some of the information covered in this guide applies to our vacuum compatible devices please refer to the online product manuals for detailed connection recommendations www zaber com manuals VacuumDevices The motor cable connects a controller to a peripheral with a panel mount connector The MC04 motor cable connects a controller to a peripheral with an in line connector The MC04 can also be used to extend any motor connection Configure Zaber Console With Zaber Console open select the COM port to which the devices are connected from the Serial Port dropdown in Zaber Zaber Console is our free open source software For initial Console and press Open configuration of your device s we strongly suggest using Zaber Console for its ease of use A download link and installation instructions are available online www zaber com software ZaberConsole Select COM port from Serial The following configuration sections are based on Zaber Console Port dropdown menu Please contact Customer Support if you would like to use any other software More information about Zaber Console and other software options is included in
3. devices can be daisy T Series and A Series devices can be daisy X Series devices can be daisy chained using chained using a Mini DIN connection chained to X Series devices with a T XDC an 8 cable such as the X DC02 adaptor cable X Series devices are designed to be connected at the beginning of a daisy chain closest to the computer when different product series are connected together t Peripherals are not shown connected to the stand alone controllers See p 8 for information on peripherals 7 Computer Connection Serial Port T Series devices can connect to A Series devices can connect to X Series devices can connectto a a computer s serial port with a a computer s serial port with a computer s serial port with X SDC T DSUBS adaptor and a T DCO6 T DSUBS adaptor and a T DCO6 cable cable cable Computer Connection USB T Series devices can connect to A Series devices can connect X Series devices can connect to Stand alone controllers also have a computer s USB port with a to a computer s USB port with a a computer s USB port with a the option to connect directly to T USBDC cable T USBDC cable X USBDC cable a computer s USB port with a 0 0 06 cable Drivers may be required if COM port does not appear Download and installation instructions here www zaber com software Drivers are required Download link and installation instructions can be found here www zaber com software ZABER TECHNOLOGIES INC
4. page ASCII ASCII www zaber com QuickSetup Product name Available Baud Rates 9600 9600 9600 Y 19200 19200 38400 38400 ZABER COM 57600 57600 VSR20A T3 lt 115200 115200 SN 12333 PID 44456 Peripheral or Serial number device ID set the peripheral ID for a controller using the Binary protocol To set the peripheral ID for a controller using the ASCII protocol in Zaber Console select the Settings tab enter the ID into the with Zaber Console select the Settings tab enter the ID as the Peripheral ID setting and press Write data for the peripheralid setting and press Write Zaber s controllers and peripherals can also be used with third party controllers and peripherals in which case care should be taken when selecting optimal settings Peripheral IDs are not used for these cases please contact Zaber if you have any questions or need assistance with setting up the configuration Enter the ID into the Enter the ID into the Peripheral ID setting then peripheralid setting then press Write press Write i eea ml nia bor deren Ders Durain tor device 1 A MCA Coreroker Sala Moda z T Sum in Sommaire 5 Advanced a 2 MS Advanced E Carex Show Remi Ir nB Rh z _ n haad deem eed bold Feed _ ges F LL i mue us He IR Hand Sonpe xm
5. value in many of the commands and settings For example a Move Relative command with a data value of 1000 is translated as a move forward by the device of 1000 microsteps When using Zaber Console you can choose to use millimeters inches or microns instead of microsteps Speed and acceleration values are also related to the microstep size but not as directly The following table shows formulas that can be used to convert data to meaningful values such as speed and acceleration ZABER TECHNOLOGIES INC T Series speed microsteps second Data 9 375 acceleration microsteps s Data 11250 A Series and X Series speed microsteps second Data 1 6384 acceleration microsteps s Data 10000 1 6384 A spreadsheet with built in formulas for easy conversion is available www zaber com ZaberSpeedSettings xls Make sure you are using the correct tab T Series devices use Speed fw5 xx A Series and X Series devices use Speed fw6 xx Enter the microstep size of your device into the spreadsheet to easily convert from data to speed or acceleration and vice versa in mm s or mm s amp Triggers Some Zaber controllers have configurable digital and analog inputs and digital outputs While these controllers can be used to interact with a variety of devices care should be taken when setting up the circuit to which they are connected The product manuals for these controllers on our Support page will include usa
6. ZABER ZABER TECHNOLOGIES Getting Started Guide Contents PRECAUTIONS c no een een 1 PING Dee ei 10 2 xii ver eee 11 RETURNS WARRANTY AND REPAIRS 2 Default Configurations 12 COMMON TERMINOLOGY 3 ee 12 3 CONTROL 14 x05 MN 3 este 14 arses ee eee B 14 JOYSTICK C deve 3 sd 14 T Series A Series 3 Programming Librarie en 14 QUICK SET UP CHEUCKLIS 4 Stepper Motors Microstepping and Resolution 14 e nllsm 5 POS 15 CONNECCION a een 5 16 BETS 6 OS 17 Computer Connection Serial T Default Key Configuration for 17 Computer Connection USB 7 TROUBLESHOOTING 18 Peripherals ecn est tyne LE DLE E ee cue 8 Front Panel 1 eerte ote ana 18 Vacuum DEVICE E Mesi 8 Resetting to Factory Default nase 19 DONFIGUHE 9 Slipping and Stalling 19 Zaber Console 9 CON POT ee en 9 VERSION 1 1 PDF download www zaber com GettingStarted pdf Precautions Zaber s devices may produce enough force to cause personal f injury Be careful to keep hair body pa
7. elocity Mode and knob for 1 second Displacement Mode Velocity Mode each knob turn increments the speed of the axis in a continuous movement Displacement Mode each knob turn moves the axis a specific distance as indicated by the knob distance setting 17 Joystick Joystick Start up Instructions Zaber s joystick can be used to control up to 3 axes manually the joystick s programmable buttons can also save commands for ease of use The joystick is designed to connect at the start of a daisy chain where it can send instructions to all of the other devices over the chain However joysticks are not intended to act as controllers so each axis will still require an integrated controller or a stand alone controller Default Key Configuration for Key Short Press Stop send alerts 1 2 Move to saved position Move to saved position Move to saved position Axis 1 low speed Axis 2 low speed 8 Axis 3 low speed When comm alert is set to 1 NO fF WwW Connect Long Press Home Send alerts 1 3 4 Configure Save position Save position Save position Axis 1 high speed Axis 2 high speed Axis 3 high speed Our joysticks are intended for use with other Zaber devices The table on the right includes some basic instructions for getting started with our joysticks ZABER TECHNOLOGIES INC Although a joystick can be used with or without a computer connection we recommend that you con
8. er Binary Protocol Zaber ASCII Protocol Commands and responses in Commands and responses in compact 6 byte packages readable ASCII strings e Address devices in a daisy chain Address devices and axes in a Fast processing speed daisy chain Advanced commands and settings available Additional information available in responses Binary Manual www zaber com manuals BinaryProtocol ASCII Manual www zaber com manuals ASCIIProtocol T Series product manuals www zaber com support provide device specific information to the Binary protocol 23 T ANTIN I an 36 gt 3 IC LUONMQUALONS ar pnerfal IDS You can use the table below to confirm the default baud rate and Zaber s controllers and peripherals are designed for ease of use protocol of your devices as well as which they are capable of when used together Optimal settings such as the default current using speed acceleration and limit settings can be easily entered for peripherals Controllers can use the same optimal settings by setting the peripheral ID The peripheral ID is listed as the ID on the peripheral s label see image below A list of IDs is also available online www zaber com support IDMapping T Series A Series X Series Default Protocol Binary Binary ASCII Default Baud Rate 9600 9600 115200 Scannable QR code directs Available Protocols Binary Binary Binary to Quick Set up
9. ge instructions and sample circuit diagrams www zaber com support The inputs and outputs can be configured to either trigger actions on the controller or to be triggered by certain conditions These triggers can also be configured on devices without I O s available More information on how to set up these triggers are available in our ASCII protocol manual www zaber com manuals ASCIlTriggers Please contact Customer Support if you have any questions about setting up your circuit Manual Knobs Most Zaber devices include a manual knob for moving the unit without a computer connection Devices still need to be connected to a power source for the manual knob to work The following tables summarize the functionality offered by manual knobs for each device series Potentiometer Knob T Series Functionality Turning the knob Moves the device based on the direction the knob is turned clockwise moves in the positive direction at a speed proportional to the amount that the knob is turned Returning the knob to Stops the device from moving the detent Indexed Knob A Series and X Series Functionality Turning the knob Moves the device based on the direction the knob is turned clockwise moves in the positive direction Pressing the knob Decelerates and stops the device identical to a Stop command Pressing the knob also instantly stops the device if the device is already decelerating Pressing and holding the Toggles between V
10. ion optional 9 Configure peripheral ID if using peripheral 12 Connect to peripheral if using a peripheral 8 Move device with knob to confirm set up 16 5 Connect All Zaber controllers can connect to a computer through a 05089 serial port or USB port Accessories for making these connections included when kit is ordered with a device For devices that can also connect with RS 485 please refer to the online product manuals for configuring these connections www zaber com support Our Quick Set up Tool also provides instructions for connecting and daisy chaining your positioners which you can find here www zaber com QuickSetupTool Power Connection T Series devices connect to a 15 V A Series devices connect to a 24 48 X Series devices connect to a 24 48 power supply with a 21 mm centre V power supply with a Molex Mini Fit V power supply with a 2 pin 5 mm positive power plug Jr 3 pin power connector pitch screw terminal block These power supplies connect to devices that can share power with similar devices along the daisy chained data cables The number of devices you can power will depend on the combined current draw of the devices and the current capacity of the power supply ZABER TECHNOLOGIES INC Daisy chaining Daisy chaining is used to connect and control multiple devices in a series with one computer connection T Series and A Series
11. l be able to select a preference for all of the devices to use either the Zaber Binary protocol or Zaber ASCII protocol For more information on protocols please refer to the following section The Zaber ASCII protocol is not available on T Series devices Zaber devices can use the Zaber Binary protocol if a T Series device is included in the chain all devices will be set to Zaber Binary There are two communication protocols that Zaber s devices may use Zaber ASCII available on A Series and X Series devices and Zaber Binary available on all devices as well as several communication speed options called baud rates All devices connected to a port must be set to use the same protocol and baud rate This tool lets you detect all connected devices and set them to use the same communication protocol and baud rate Would you like aber Console to automatically configure your devices Set allto ASCII at 115200 baud if all devices are capable 7 Set allto Binary at 9600 baud ZABER TECHNOLOGIES INC Protocol Communication protocols dictate the way in which commands are formatted to send to a device Zaber s devices use two protocol options Zaber Binary and Zaber ASCII The protocols of different devices in a daisy chain must match for them to work together The first table below lists some of the benefits of each protocol option and the second table shows where you can access the online user manuals Zab
12. lcohol We do not recommend using stronger solvents as they can damage non metal components Please refer to our online product manuals at www zaber com support for maintenance information on your specific device s Returns Warranty and Repairs All of Zaber s standard products those that appear on our website are backed by a 30 day satisfaction guarantee If you are not satisfied with your purchase for any reason you may return the item s in saleable and unmarked condition within 30 days of the purchase date for a refund less applicable shipping costs High vacuum SV2 devices cannot be returned once they have been removed from their sealed packaging All standard products are warrantied against defects in manufacture and design for one full year from the purchase date This warranty excludes products that have been misused modified or disassembled by the customer Misuse includes operating the devices in abnormal conditions such as in extreme temperatures in proximity of radiation or strong magnets or in wet environments If you are not sure whether the conditions in which you plan to use your device s are acceptable under our warranty please contact Customer Support Aside from issues covered under warranty we are also happy to inspect any other problems that may arise and we offer reasonably priced repairs Simply email contact zaber com for assistance Please refer to www zaber com policies for more information abo
13. ming languages For a complete list of supported languages and features please see our Software page www zaber com software Other examples drivers and some customer submitted code samples are also available on that page Stepper Motors Microstepping and Resolution Zaber s devices use stepper motors with microstepping drivers To get the most out of your Zaber device it is useful to have a basic idea of how these motors work One revolution of a stepper motor is divided into a number of steps Most of our devices use stepper motors with 200 steps per revolution Our controllers divide each step into a number of smaller microsteps typically 64 microsteps per step although this can be adjusted 15 Therefore by default most of our devices can to 12800 positions for every motor revolution Many devices use lead screws or gearing to move the actuators or stages and a motor revolution will move the device a certain distance That distance can be divided by the number of microsteps per revolution to get the distance moved per microstep This microstep size or resolution is the smallest distance that the device can be asked to move Microstep size will vary from device to device the value for your device is available on our website under the Series Specs tab for each product It is important for you to know the microstep size when you controlling your device The number of microsteps is used as the data
14. nect it to a computer for the initial set up The joystick should be connected directly to the computer with the devices that it will control daisy chained to it Once all devices are connected to the chain the Renumber command should be sent to all devices Device 0 This will set the joystick as device 1 and the joystick will control devices 2 3 and 4 or in other words the next three devices daisy chained to it You can configure the joystick based on your desired usage There are a number of settings such as axis inversion velocity profile and velocity range that can be set You can also program the buttons to send certain commands to the devices Please refer to the online product manuals for details on changing the settings and programming the buttons on our Support page www zaber com support Once the joystick has been configured you can either continue to use it while connected to a computer s serial port or you can disconnect from the computer and only use the joystick for control www zaber com Troubleshooting Front Panel Indicators Green LED on Device is powered on and operating normally Device is powered on and operating normally Green LED flashing Power supply voltage is out of range Operating conditions of the device are outside of the recommended range This will occur if the supply voltage is either over or under the recommended range if the internal temperature has exceeded the set limit or
15. ps All Devices 1 Lower the maximum speed setting 2 Lower the maximum acceleration setting 3 Reduce the load on the positioner If the positioner continues to stall with no external load at default speed and acceleration settings or if the steps above cannot be performed given your application requirements please contact Customer Support for assistance Customer Support 1 888 276 8033 Toll Free Canada USA 1 604 569 3780 Direct contact zaber com
16. rts jewelry and clothing from being caught in moving components Pinch labels are used on our devices to indicate areas of particular concern During continuous operation a device s motor may feel hot to the touch Although this is normal care should be taken when 9 handling the device Ifthe device emits burnt smell it may be damaged in which case you should cease operation and contact Customer Support for assistance For positioners without integrated controllers set the peripheral ID on the controller as described in this guide before connecting the motor to the controller To reduce the risk of electrostatic damage avoid touching the electrical contacts of the data cables included with your device s Before storing your device s retract any extended components in order to keep them clean and to protect them from damage Do not expose device s to vibration or shock ZABER TECHNOLOGIES INC Do not expose device s to extreme conditions such as temperatures exceeding device ratings radiation and dusty or humid environments Do not submerse device s in liquid Do not disassemble Zaber s device s do not contain user serviceable parts Please contact Customer Support for service and or repairs Maintenance Most of our positioners do not require regular maintenance Lead screws and rails do not need to be greased Ifa component is exposed to dust or dirt it should be gently wiped with isopropyl a
17. the Control section page 14 of this guide COM Ports A COM port is a specific serial connection on a computer such as or When connected via USB your computer should create a virtual COM port that will be available only when the device is connected To start communication between computer and device select the appropriate COM port If you are not sure which to choose please contact Customer Support ZABER TECHNOLOGIES INC Zaber Console will detect which devices are connected to that port and those devices will be displayed in the Device List ifthey all share the same communication protocol and baud rate The protocol and baud rate of the found devices are shown in the Serial Port menu The next section will explain what to do if they don t share the same configuration if they don t all appear or if you would like to change the protocol the devices are using Protocol ASCII and baud rate 115200 shown in the Serial Port dropdown menu Press Find Devices to make sure all devices are set to a similar configuration ot KCE Sate Mode ter deve U LI Devices Thaw M Find Devices Once a port has been opened the Find Devices feature is available This button allows you to do a thorough search to find devices without common baud rates or protocols and set them all to a shared baud rate and protocol When you select this option you l
18. the driver has disabled Green LED fading in and out Device is parked Red LED on or flashing A critical error has occurred Please contact Customer Support Blue LED on or flashing Device has slipped or stalled Amber or red LED on Device is in motion Amber or red LED flashing Traffic packet on the RS 232 line Amber or red LED blinking Manual movement potentiometer is turned 19 Resetting to Factory Default If the device is unable to communicate operating erratically or performing in unexpected ways a manual factory reset can be performed through the following steps T Series send the Restore Settings command command number 36 If the controller is integrated on the positioner the data value should be 0 If the controller is connected to a peripheral the peripheral ID should be the data value A Series and X Series 1 Power Off the device 2 Push and hold the knob 3 Power On the device 4 Continue to hold the knob in until the blue LED is lit about 5 seconds then release the knob Slipping and Stalling If the positioner is making unusual noises when in motion and or itis not traveling the expected distance or not traveling at all than the positioner is likely slipping or stalling ZABER TECHNOLOGIES INC If the positioner is slipping or stalling and it has encoders the blue LED on the controller will also flash To correct the problem try the following ste
19. ut our policies Common Terminology Positioner A motorized product with moving mechanics such as a linear stage a rotational stage or a stepper motor Peripheral A positioner that includes a stepper motor and mechanics but does not include an integrated controller Peripherals are designed for use with Zaber s stepper motor controllers but they can also be used with third party stepper motor drivers and controllers Device A stand alone controller or a positioner with an integrated controller Stand alone controllers are designed for use with Zaber s peripherals but they can also be used with third party two phase stepper motors Joystick A product that allows multi axis manual input and push button input for positioners Joysticks do not function as controllers instead they are designed to communicate with Zaber s stepper motor controllers when connected in series ZABER TECHNOLOGIES INC T Series A Series X Series Devices that share common features such as connectors protocols and power The series is indicated by the first letter of the device s name For example the T LSMO25A model belongs to the T Series family Please refer to our Series Reference Table for more information www zaber com SeriesReferenceTable pdf www zaber com Quick Set up Checklist Connect power 5 Connect daisy chain 6 Connect to computer 7 Install USB drivers if using USB 7 Install Zaber Console 9 Configure communicat
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