T-JOY Joystick User`s Manual Firmware Version 5.00 and up
Contents
1. roe roe Copyright Zaber Technologies Inc 1 ZABER T SERIES PRODUCTS T JOY Joystick Controller T CONG Stand Alone Device Controller Customers may use either of the above products or a computer with RS2. T Series devices with firmware version 5 00 to 5 03 may be used with the T JOY however their command set lacks two useful instructions that were added in version 5 04 Save Current Postion and Go To Saved Position These instructions are particularly useful in conjunction with the T JOY since any button on the T JOY may be programmed to issue these instructions to all connected units in order to store and recall a position in 3 dimensional space 2 FIRMWARE VERSION INFORMATION The version of firmware installed on any Zaber T Series device can be determined by issuing command 51 A three digit number will be returned Assume 2 decimal places ex a reply of 504 indicates firmware version 5 04 This user s manual applies only to T JOY devices with firmware version 5 04 and up This is the most recent version as of this printing however newer firmware versions may have since been released 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 3 CAUTION Zaber devices are precision instruments and must be handled with care Avoid using excessive force or rapid motion when manipulating the joystick or buttons Do not force the connectors when
3. sss 8 15 RETURN FIRMWARE VERSION 5 1 8 16 RETURN POWER SUPPLY VOLTAGE 52 8 17 RETURN SETTING 2553 sss 8 18 BCHO DATA 99 e 9 REPLY ONLY REFERENCE ee eere eren 9 1 REPLY 255 ERROR seen 10 ERROR CODES 11 LED INDICATORS Ji isecsscesscssessssnsssssnssssncssacssssesensessss 12 TROUBLESHOOTING eese e eene eene een neon n 12 1 T SERIES GENERAL TROUBLESHOOTING TIPS 12 2 T JOY SPECIFIC TROUBLESHOOTING TIPS 13 DATA CABLE PINTOUT DIAGRAM 14 WARRANTY 15 REPAIRS AND RETURNS e ecce eee ee seen neon n 16 EMAIL UPDATES 17 DISCLAIMER 18 TECHNICAL SUPPORT AND CONTACT Page 2 of 32
4. Page 9 of 32 Copyright Zaber Technologies Inc 8 DETAILED COMMAND REFERENCE Note that these commands apply only to T JOY series firmware versions 5 00 and up 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 Version 5 00 and up Command Number 0 Data Bytes Ignored Reply Data None This sets the device to its power up condition It has the same effect as unplugging and restarting the unit All non volatile settings i e Unit Number Joystick Calibration etc are saved and are not affected by reset or power down 8 2 Renumber 2 Firmware Version Version 5 00 and up Command Number 2 Data Bytes If issued to all units Ignored If issued to a single unit new number Reply Data Each unit affected replies with its device ID after renumbering Note The unit number is stored in non volatile memory and will persist after power down or reset 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 number 2 and so forth If issued with a number other than 0 in byte 1 the specified unit will reassign itsel
5. Zaber Technologies Inc Command 36 may be used to restore factory default settings The factory default settings for axis control are as follows Axis 1 controls Unit 2 Axis 2 controls Unit 3 Axis 3 controls Unit 4 8 5 Set Axis Inversion 427 Firmware Version Version 5 04 and up Command Number 27 Data Bytes to set the current axis to non inverted to set the current axis to inverted 0 to toggle between invert and non invert Reply Data 1 or 1 indicating the inversion status of the active axis Note This setting affects only the active axis See the Set Active Axis 25 command for instruction on how to select an axis This setting is stored in non volatile memory and will persist after power down or reset Sometimes it is desirable to invert one or more axes to create a more intuitive user interface The Set Axis Inversion 27 command allows the user to set the inversion status of the active axis Each axis can be inverted independently of the other two axis See command 26 for an example of how to invert a particular axis Direction of Manipulation of Joystick Direction of Motion of Affected Unit Axis Manipulation Non inverted Inverted 1 Left negative Negative Positive 1 Right positive Positive Negative 2 Back negative Negative Positive 2 Forward positive Positive Negative 3 Counter Clockwise negative Negative Positive 3 C
6. bit 2 Reserved bit_2 4 Reserved 8 Reserved bit 4 16 Reserved bit_S 32 Reserved Page 23 of 32 Copyright Zaber Technologies Inc bit_6 64 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 bit_7 128 Reserved bit_8 256 Reserved bit_9 512 Reserved bit_10 1 024 Reserved bit 11 2 048 Reserved bit 12 4 096 Reserved bit_13 8 192 Reserved bit_14 1 6384 Disable Power LED A value of turns off the green power LED It will still blink briefly immediately after powerup bit_15 32 768 Disable Serial LED A value of turns off the yellow serial LED 8 13 Set Alias 48 Firmware Version Version 5 00 and up 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 Note This setting is stored in
7. Back is the negative direction of manipulation Axis 1 Axis 3 Clockwise is the positive direction of manipulation Counter clockwise is the negative direction of manipulation For example to set the maximum velocity of axis number 2 first issue the Set Active Axis 25 command with data of 2 to make axis number 2 the active axis Then issue the Set Axis Velocity Scale 29 command using the desired maximum velocity as data Subsequent Set Axis commands will also apply to the axis number 2 until the user sets a different axis to be the active axis or powers off the joystick The joystick s current active axis can be returned by issuing the Return Setting 53 command with data of 25 Page 11 of 32 Copyright Zaber Technologies Inc 8 4 Set Axis Unit Number 26 Firmware Version Version 5 04 and up Command Number 26 Data Bytes Byte 3 is the unit number Valid numbers are between 0 and 254 Reply Data Reply data is simply an echo of the command data Note This setting affects only the active axis See the Set Active Axis 25 command for instruction on how to select an axis This setting is stored in non volatile memory and will persist after power down or reset This command sets what unit number you wish to control using the active axis For example suppose you would like to assemble a 3 axis system where Joystick axis 1 right left controls unit 3 Joyst
8. from to 5 corresponding to the key location Event is a number from 1 to 4 corresponding to the key event The reply will be comprised of the unit command and data of the event triggered instruction associated with the specified key event Note that as far as the computer is concerned the reply will appear to come from whatever unit the event triggered instruction is addressed to which may not be the joystick We recommend that all additional units be disconnected from the joystick before loading or returning event triggered instructions to avoid confusion Page 20 of 32 Copyright Zaber Technologies Inc 8 10 Calibrate Joystick 33 Firmware Version Version 5 04 and up Command Number 33 Data Bytes Specifies the calibration mode 1 calibrate limits 2 calibrate dead bands 0 stop calibrating save calibration data and return to normal operation Reply Data The reply is simply an echo of the instruction Note Calibration settings are a special case in that they are not affected by a Restore Settings 36 instruction There are no factory default calibration settings that will work well on all T JOY units and it would be a tedious matter to re calibrate after every Restore Settings 36 instruction The calibration settings are stored in non volatile memory and will persist after power down or reset This instruction is used to calibrate the joystick There are two sets of calibr
9. non volatile memory and will persist after power down or reset This creates an alternate unit number for a device in addition to its actual unit number By setting several unit s 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 Page 24 of 32 Copyright Zaber Technologies Inc 8 14 Return Device ID 50 Firmware Version Version 5 00 and up 5 Command Number 0 Data Bytes Ignored Reply Data Device ID 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 15 Return Firmware Version 51 Firmware Version Version 5 00 and up Command Number 51 Data Bytes Ignored Reply Data Firmware version This causes the unit to return its firmware version number A decimal is assumed before the last two digits For example reply data of 502 indicates firmware version 5 02 8 16 Return Power Supply Voltage 52 Firmware Version Version 5 00 and up Command Number 52 Data Bytes Ignored Reply Data Power supply voltage This causes the unit to return the voltage level of its power source A decimal is assumed before the last digit For exampl
10. properly aligned only a gentle force should be needed to achieve connection Page 4 of 32 Copyright Zaber Technologies Inc 4 INITIAL SETUP AND TESTING When you first receive your T JOY you may wish to perform a few simple steps to familiarize yourself with its operation First you will need a power supply If you did not order one with your device you will require a power supply with output voltage between 10 and 16V DC The power input accepts a standard 2 1mm center positive connector Most unregulated 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 also be rated to handle the maximum total current draw of the devices connected to it For example if you have one T JOY joystick and 2 T LA28A actuators daisy chained together with a single power supply you will need at least 690 mA 50mA for the joystick and 320 mA for each actuator The current draw of each device is given in the specifications section of the user s manual for the device When powering long chains of devices we recommend connecting a power supply to every second or third device in the chain to reduce the current through the data cables Once you have a working power supply you can test the operation of the T JOY Connect the power supply to the joystick and ensure that the green LED turns on indicating power Move the joysti
11. 232 serial communications to control various combinations of the devices below Series Linear Actuators T CD Series 2 Phase Stepper Motor Controllers Muin T LS Series Linear Stages T LLS Series Long Travel Linear Slides T MM Series Motorized Mirror Mounts For more information on any of these products or to sign up for our quarterly email newsletter with product updates and promotions please visit http www zaber com Page 3 of 32 Copyright Zaber Technologies Inc 1 1 T Series Specifications The following specifications apply to all T Series devices Power Supply 12V nominal 10V to 16V acceptable DC unregulated supply on 2 1 mm center positive power connector Communications RS232 9600 baud no parity one stop bit on 6 pin mini din cable male towards the computer female towards the next unit 1 2 T JOY Specifications The following specifications are specific to T JOY devices Current Draw 50 mA Joystick Controllable Axes 3 User Configurable Buttons 5 Visual Feedback Power LED green and Com LED yellow Dimensions 200 x 122 x 102 mm L x W x H Weight 350g Compatibility Device Firmware version Compatibility T CON All None All T Series 1 00 to 4 99 None except T CON All T Series 5 00 to 5 03 Partial except T CON All T Series 5 04 and up Full except T CON
12. 27 Set Axis Inversion Data out of range Must be 0 1 or 1 28 Set Axis Velocity Profile Data out of range Must be 0 1 2 or 3 29 Set Axis Velocity Scale Data out of range Must be between 0 and 65535 30 Load Event Triggered Instruction Data out of range See command 30 for valid range 31 Return Event Triggered Instruction Data out of range See command 31 and 30 for valid range 33 Calibration Data out of range Must be 0 1 or 2 36 Restore Lock Unlock Settings Data out of range Must be 0 2768033 or 3308672 40 Set Mode One or more of the Mode Bits is invalid 48 Set Alias Data out of range Must be between 1 and 254 inclusive 53 Return setting Data out of range Must be a valid setting number 64 Command number not valid in this firmware version 255 Another command is currently executing and cannot be pre empted by the new command Please wait till the old command is finished executing or issue a command with pre emptive priority 3600 Settings locked The most recent instruction required changing setting values but the settings are locked See command 36 for details on locking and unlocking settings 11 LED INDICATORS The green LED is on whenever there is power to the device A constant blinking 2Hz of the green LED indicates that the power supply voltage is out of range The green LED may be disabled by a mode bit see comman
13. 3 to trigger the instruction 5 22 4000 Unit 5 Move at Constant Velocity 4000 1 30 14 Program key 1 event 4 to trigger the instruction 1 23 0 Unit 5 Stop 1 30 21 Program key 2 event 1 to trigger the instruction 5 22 1000 Unit 5 Move at Constant Velocity 1000 1 30 22 Program key 2 event 2 to trigger the instruction 5 23 0 Unit 5 Stop 1 30 23 Program key 2 event 3 to trigger the instruction 5 22 4000 Unit 5 Move at Constant Velocity 4000 1 30 24 Program key 2 event 4 to trigger the instruction 5 23 0 Unit 5 Stop Page 19 of 32 Copyright Zaber Technologies Inc Example 3 Programming keys to trigger an action on the computer Sometimes you may want a key event on the joystick to trigger more complicated tasks than just sending a single instruction You may also wish to have a key event on the joystick trigger certain actions on the computer if one is connected The Echo Data 55 command exists for this purpose When the T JOY receives the Echo Data 55 command with any arbitrary data the T JOY will send a reply that is simply an echo of the instruction including data If you program one of the joystick s key events to trigger an Echo Data command addressed to the unit number of the joystick itself then when the key event occurs the joystick will do two things 1 it will send the Echo Data instruction to downstream units and 2 it will attem
14. 55 255 0 4 2 42 0 18 1 Go to stored position 1 4 3 43 0 16 1 Store current position 1 4 4 44 255 255 0 a 5 1 51 255 255 0 5 2 52 0 18 2 Go to stored position 2 5 3 53 0 16 2 Store current position 2 5 4 54 255 255 0 Having four different key events for each key makes the T JOY very flexible Here are a few examples Example 1 Programming a single key to store and return to a position Each key can be programmed to provide different functionality depending on how long the key is held down Key event 3 can be programmed to trigger the Store Current Position instruction and key event 2 can be programmed to trigger the To Stored Position instruction With such a setup the user can use the joystick to move an XYZ stage to a desired position then hold down the key for more than 1 second to store the current position of the stage After moving the stage around some more the user can return to the stored position by quickly pressing and releasing the same key For a description of the Store Current Position and Go To Stored Position instructions please see the user s manual of the product in question Assuming that the joystick is unit 1 the programming sequence to program key 3 to provide this functionality would be as follows Unit Command Data Explanation of command 1 30 31 Program key 3 event 1 to trigger the instruction 255 0 0 do no
15. Issue command 33 data 0 to save the measured limit parameters To calibrate the dead band follow these steps Issue command 33 data 2 to put joystick in calibrate dead band mode Wiggle joystick slightly to the left and right of the neutral position Try to move only within the limits of the slack Do not move past the point where resistance begins Wiggle joystick slightly backward and forward of the neutral position joystick knob slightly counter clockwise and clockwise from the neutral position Issue command 33 data 0 to save the measured limit parameters 8 11 Restore Lock Unlock Settings 36 Firmware Version Version 5 00 and up Command Number 36 Data Bytes 0 restore settings to factory defaults 2768033 lock settings 3308672 unlock settings Reply Data Reply data is simply an echo of the command data Note All settings affected by this instruction are stored in non volatile memory and will persist after power down or reset This command should be issued with Data of 0 to return the device to factory default settings This command is very useful for troubleshooting If the unit does not appear to function properly it may be because some of the settings have been changed Command 36 will restore the settings to default values Locking Settings Sometimes it is desirable to lock all non volatile settings to prevent them from being changed inadvertently After changing
16. ZAB User s Manual Firmware Version 5 00 and up This manual covers only model T JOY Document Revision 2006 11 23 Visit www zaber com for more recent updates Zaber Technologies Inc 2891 Steveston Hwy Richmond BC V7E 2J1 Canada Copyright Zaber Technologies Inc 1 ZABER T SERIES PRODUCTS 1 1 T SERIES SPECIFICATIONS esee 1 2 T JOY SPECIFICATIONS sese 2 FIRMWARE VERSION INFORMATION 3 CAUTION se torso hs eoa eos Pao ER Se vh Sere Nan un 4 INITIAL SETUP AND 5 INSTALLATIONN eee senten estesa ene enae 6 CONTROL THROUGH THE RS 232 PORT 7 COMMAND QUICK REFERENCE 8 DETAILED COMMAND REFERENCE 8 1 RESET HOJ 5 ones ninth Ann 8 2 RENUMBER 2 8 3 SET ACTIVE AXIS 23 sse 8 4 SET AXIS UNIT NUMBER 26 8 5 SET AXIS INVERSION 27 8 6 SET AXIS VELOCITY PROFILE 28 8 7 SET AXIS VELOCITY SCALE 29 8 8 LOAD EVENT TRIGGERED INSTRUCTION 30 8 9 RETURN EVENT TRIGGERED INSTRUCTION 31 8 10 CALIBRATE JOYSTICK 33 8 11 RESTORE LOCK UNLOCK SETTINGS 36 8 12 SET DEVICE MODE 40 8 13 SET ALIAS 48 8 14 RETURN DEVICE ID 50
17. all the settings as desired they can be locked by issuing command 36 with data of 2768033 the lock password Subsequent attempts to change any non volatile settings including attempts to issue command 36 with data of 0 will cause the unit to reply with an error code of 3600 settings locked Unlocking Settings Settings can be unlocked by issuing command 36 with data of 3308672 the unlock password Page 22 of 32 Copyright Zaber Technologies Inc 8 12 Set Device Mode 40 Firmware Version Version 5 00 and up Command Number 40 Data Bytes Each bit of the data bytes enables or disables a specific option Reply Data Reply data is simply an echo of the command data Note All settings are stored in non volatile memory and will persist after power down or reset This command allows setting several options Each option is controlled by a single bit within the data bytes Most software you will encounter including most of our demo software represents all 4 data bytes as a single decimal value rather than specifying each bit individually To determine what decimal value to use requires a basic understanding of how the data is represented in binary The data bytes may be considered as a single 32 bit binary value The least significant bit is bit 0 the next is bit_1 the next is bit 2 and so on up to the most significant bit 31 Each bit may have a value of either 1 or 0 The corresp
18. ation variables limits and dead bands Limits define the maximum angular displacement of all axes of manipulation Dead bands define the area around the neutral position of the joystick where no action should occurs Dead bands are useful to adjust the sensitivity of the joystick to vibration or accidental movement from the neutral position Interpretation of the signal after calibration Calibrated Max Calibrated Min Deflection Deadband The T JOY is pre calibrated before shipping so that it should work well right out of the box Note that restoring default settings using command 36 will have no affect on the joystick calibration There is no default calibration since each joystick has slightly different properties that prevent a single set of settings from working well on all devices Page 21 of 32 Copyright Zaber Technologies Inc The joystick should work well as calibrated We do not recommend re calibrating it unless you encounter problems such as motion occurring while the joystick is in the neutral position or an inability to reach maximum velocity even with the joystick fully displaced To calibrate the limits follow these steps Issue command 33 data 1 to put joystick in calibrate limits mode Move joystick all the way to the left and all the way to the right Move joystick all the way back and all the way forward Turn joystick knob all the way counter clockwise and all the way clockwise
19. ce is powered down To restore all settings to factory default use command 36 Page 8 of 32 Copyright Zaber Technologies Inc Command 40 Set Mode Options for T JOY Data Bits Option Name Effect 0 15 Disable Auto reply Disable ALL replies except to command 50 and higher 1 2s Reserved This bit is reserved Do not modify 2 4s Reserved This bit is reserved Do not modify 3 8s Reserved This bit is reserved Do not modify 4 16s Reserved This bit is reserved Do not modify 5 32s Reserved This bit is reserved Do not modify 6 64s Enable Logical Channels Enable the Logical Channels Communication Communication Mode Mode see manual for more details 7 128s Reserved This bit is reserved Do not modify 8 256s Reserved This bit is reserved Do not modify 9 512s Reserved This bit is reserved Do not modify 10 1 024s Reserved This bit is reserved Do not modify 11 2 048s Reserved This bit is reserved Do not modify 12 4 096s Reserved This bit is reserved Do not modify 13 8 192s Reserved This bit is reserved Do not modify 14 16 384s Disable Power Green LED Disables the power LED during operations 15 32 768s Disable Serial Yellow LED Disables the serial LED during operations Reply Only Reference for the T JOY Reply Data Bytes Reply Data Page Error 255 N A Reply only Error code 27
20. ceive Computer Transmit All Other Not Connected ETT NI 9876 Female DBS Page 31 of 32 Copyright Zaber Technologies Inc 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 the purchase date for a complete refund T JOY devices are also guaranteed for one year 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 AND RETURNS If your unit needs repairs or you wish to return it for a refund within one month of purchase please Contact us to obtain an RMA form RMA number Follow the instructions on the RMA form Pack the unit well and ship it to us 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 death or damage to
21. ciated with each axis of the joystick to see that they address the correct unit in the daisy chain Try moving the joystick again Moving the joystick causes no motion The green LED is on but the yellow LED stays off One of the following conditions could cause this symptom The joystick axis could have been disabled by setting the velocity scale to 0 Solution re enable the joystick axis by setting the velocity scale to a non zero value You may be in calibration mode When the T JOY is in calibration mode it does not send instructions to other units Solution turn off calibration recalibrate or power off on Calibration may be wrong If the dead bands and limits were reversed it could make the joystick unresponsive Solution recalibrate Page 30 of 32 Copyright Zaber Technologies Inc 13 DATA CABLE PINTOUT 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 Adaptor Pin Configuration Fon OA Mini Din 6 DB9 Function 2 2 Device Transmit Computer Receive 3 5 Ground 6 3 Device Re
22. ck from left to right forward and back and rotate the handle counterclockwise and clockwise Also try pressing the buttons As you perform each of these actions you should notice the yellow LED blinking indicating communications are taking place Each blink corresponds to a single instruction being sent by the joystick This is the extent of the testing you can perform without connecting other devices to interpret and execute the instructions being sent by the T JOY or connecting a computer to communicate with the T JOY Page 5 of 32 Copyright Zaber Technologies Inc 5 INSTALLATION During normal operation the T JOY joystick does not need to be connected to a computer however it must be connected to a computer initially in order to change it s settings for example to change button functions from the defaults or to change what additional devices will be controlled by each axis of the joystick Devices that will be used with the joystick must also be connected so that the computer may issue a renumber instruction which assigns all connected devices a unique unit number This is necessary so that the T JOY can direct instructions to the appropriate device to control the correct axis of motion dn md Step 1 Plug the Mini DIN to D Sub serial adapter into your computer s serial port and plug the longer T JOY data cable male end into the adapter You may need to use a cable extension to reach your computer There is n
23. 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 continuity 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 reply 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 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 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 hardwar
24. d 40 The amber LED flashes when there is traffic on the RS232 line either when receiving an instruction from the computer or when sending an instruction downstream The amber LED also flashes each time a key event occurs unless the event has been disabled See the Page 28 of 32 Copyright Zaber Technologies Inc Load Event Triggered Instruction 30 command for more details on disabling key events 12 TROUBLESHOOTING 12 1 T Series General Troubleshooting Tips Symptom Check Green LED does not come on Check the A C wall plug the 12V adapter and its connection to the device If the power is coming over the data cable check the mini din connector for bent or broken pins Green LED flashes The power supply voltage is outside the range of 10 to 16V It may either be too low or too high Some unregulated 12 V adapters may produce in excess of 16 V If the number of devices connected on a single 12 V adapter exceeds its current capability the voltage may drop below 10 V You may experience this problem when many motors on a single supply move together The load may exceed the maximum current available causing the voltage to drop 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 Communications do not seem to work the amber light does not come on or flash Make sure that you are on the
25. e reply data of 127 indicates 12 7 V Note that the voltage is only an approximation 8 17 Return Setting 53 Firmware Version Version 5 00 and up Command Number 53 Data Bytes Setting Number Reply Data Setting number in Byte 2 Current setting value in data bytes 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 Page 25 of 32 Copyright Zaber Technologies Inc 8 18 Echo Data 55 Firmware Version Version 5 04 and up Command Number 55 Data Bytes Any arbitrary user defined data Reply Data The reply is simply an echo of the command This causes the unit to echo back the same data that was sent This instruction is a useful one to use as an event triggered instruction associated with a key event It can be used to allow the computer if one is connected to detect a key press on the joystick For more details see the Load Event Triggered Instruction 30 command Page 26 of 32 Copyright Zaber Technologies Inc 9 REPLY ONLY REFERENCE In general a T series device will reply to an instruction using the same command number as the instruction itself However there are occasions when the device may transmit data without first receiving a request from the controlling computer This
26. e is functioning properly Make sure that the receiving part of your code or commercial package is correct Check baud rate etc Check connectors for bent or broken pins The 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 Page 29 of 32 Copyright Zaber Technologies Inc 12 2 T JOY Specific Troubleshooting Tips Moving the joystick causes no motion The green LED is on and the yellow LED blinks when I move the joystick The joystick may not be configured correctly to control the units daisy chained to it i e the joystick may be trying to communicate to a unit number that is different than the unit numbers of the devices connected Try the following steps Verify that each unit in the daisy chain works individually Plug all the units in a daisy chain with the joystick being the first unit next to the computer and issue a renumber instruction Verify again that the computer can communicate with each unit independently Check the unit numbers asso
27. egative Displacement from neutral position Joystick Axis Positive Displacement from neutral position The maximum velocity is set by the Set Axis Velocity Scale 29 command Squared and cubed curves offer finer control at slow speeds but still allow maximum velocity when the joystick is fully deflected Page 14 of 32 Copyright Zaber Technologies Inc 8 7 Set Axis Velocity Scale 29 Firmware Version Version 5 04 and up Command Number 29 Data Bytes Desired maximum velocity of the T Series unit controlled by the active axis If data is 0 then the active axis will be disabled Reply Data The reply data is simply an echo of the command data Note This setting affects only the active axis See the Set Active Axis 25 command for instruction on how to select an axis This setting is stored in non volatile memory and will persist after power down or reset This command is used to set the velocity scale of the active axis The data represents the desired maximum velocity corresponding to full displacement of the joystick When the joystick is moved away from the neutral position the displacement is translated into Move At Constant Velocity instruction which is sent to the unit associated with the displaced axis See the user s manual for the device in question for more information on the Move At Constant Velocity instruction The velocity scale setting works in conjunction with the veloc
28. 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 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 Page 32 of 32
29. f the unit number specified in the data bytes Renumbering takes less than 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 instruction on each power up Even if the order of devices in the daisy chain is physically changed the unit numbers most recently assigned to each device will persist Page 10 of 32 Copyright Zaber Technologies Inc 8 3 Set Active Axis 25 Firmware Version Version 5 04 and up Command Number 25 Data Bytes 1 2 or 3 to select the corresponding axis to be the active axis Reply Data Reply data is simply an echo of command data Note The active axis affects the behavior of commands 26 through 29 This setting is stored in non volatile memory and will persist after power down or reset This instruction selects one of the three axes of manipulation to be the active axis Subsequent Set Axis instructions will apply only to the active axis The Set Axis instructions are Set Axis Unit Number 26 Set Axis Inversion 27 Set Axis Velocity Profile 28 Set Axis Velocity Scale 29 The three axes on the joystick are defined as follows Axis 1 Right is the positive direction of manipulation Left is the negative direction of manipulation ES Axis 2 Forward is the positive direction of manipulation
30. ick axis 2 forward back controls unit 4 but with the motion inverted Joystick axis 3 clockwise counterclockwise controls unit 2 First connect the joystick and the three additional T Series units we have shown three T LS units below in a daisy chain as follows T JOY3 Unit 1 Unit 2 Unit 3 Unit 4 Laptop or Desktop Issue the Renumber 2 command from the computer After renumbering less than 1 second the joystick will become unit 1 and the remaining units will become units 2 3 and 4 Now commands may be issued to the joystick to set the desired behavior The command sequence is as follows Unit Command Data Explanation of command 0 2 0 Renumber After connecting the daisy chain as shown above issue this command to all units Each unit should reply The T JOY3 will be unit 1 and subsequent units will be 2 3 and 4 1 25 1 Set axis number 1 to be the active axis Subsequent Set Axis commands will apply to the active axis 1 26 3 Set the active axis 1 to control unit 3 1 25 2 Set axis number 2 to be the active axis 1 26 4 Set the active axis 2 to control unit 4 1 27 1 Set the active axis 2 to be inverted Forward will become the negative direction and backward will become the positive direction 1 25 3 Set axis number 3 to be the active axis 1 26 2 Set the current axis 3 to control unit 2 Page 12 of 32 Copyright
31. instructions applicable to other devices please consult the appropriate user s manual Command Reference for the T JOY Command Data Bytes Reply Data Page lo Reset Ignored None 10 Ia Renumber 0 or desired Device Address Device ID 10 25 Set Active Axis 1 2 or 3 or to select all Echo of Command Data 11 26 Set Axis Unit Number Unit number to control Echo of Command Data 12 27 Set Axis Inversion 1 1 or 0 to toggle lor 1 13 og Set Axis Velocity Profile 1 2 3 or 0 to toggle 1 2 or3 14 29 Set Axis Velocity Scale Maximum Velocity Echo of Command Data 15 0 to disable axis 30 Set Key Trigger Trigger number Echo of Command Data 16 31 Return Key Trigger Trigger number Stored function the 20 complete command 33 Calibration 0 1 or 2 Echo of Command Data 21 36 Restore Default Settings 0 Echo of Command Data 22 40 Set Device Mode Mode Configuration see Echo of Command Data 23 below 48 Set Alias Alias Unit Number Echo of Command Data 24 50 Return Device ID Ignored Device ID 25 51 Return Firmware Version Ignored Firmware Version 25 52 Return Power Supply voltage Ignored Power Supply Voltage 25 53 Return Setting Setting Number Setting Value 25 55 Echo Data User defined Echo of Command Data 26 The settings for these commands are saved in non volatile memory i e the setting persists even if the devi
32. ity profile setting See the Set Axis Velocity Profile 28 command for more detail Setting the velocity scale to 0 will disable the active axis This prevents the joystick from sending any instructions in response to displacement of that axis This is useful when the user wants to execute a program from the computer and does not want the joystick to be accidentally moved The default velocity scale for all three axes is 2922 Page 15 of 32 Copyright Zaber Technologies Inc 8 8 Load Event Triggered Instruction 30 Firmware Version Version 5 04 and up Command Number 30 Data Bytes Indicates the event number with which the next instruction should be associated Reply Data The reply data is simply an echo of the command data Note The next command received after command 30 is saved in non volatile memory and will persist as the event triggered instruction associated with the indicated key event even after power down or reset This command is used to program the keys on the joystick to send any arbitrary instruction There are five keys on the joystick There are 4 key events that the joystick will detect Key Event 1 Key depressed Key Event 2 Key released before hold time Key Event 3 Key not yet released when hold time elapses Key Event 4 Key released after hold time These key events are displayed graphically below The hold time is preset to 1 second and cannot be changed by the
33. lockwise positive Positive Negative What constitutes positive or negative motion depends on the device see the user s manual for the device in question The default axis inversion setting for all joystick axes is non inverted data 1 Page 13 of 32 Copyright Zaber Technologies Inc 8 6 Set Axis Velocity Profile 28 Firmware Version Version 5 04 and up Command Number 28 Data Bytes 1 to use linear profile 2 to use squared profile 3 to use cubed profile 0 to toggle through the different profiles Reply Data 1 2 or 3 depending on the current velocity profile Note This setting affects only the active axis See the Set Active Axis 25 command for instruction on how to select an axis This setting is stored in non volatile memory and will persist after power down or reset This setting allows the user to select the desired relationship between the angular displacement of the active joystick axis and the velocity of the unit controlled by that axis When the joystick is displaced from the neutral position the T JOY3 reads the angular position and calculates how fast and in which direction the corresponding units should be instructed to move There are three different profiles that can be selected Linear 2 Squared factory default 3 Cubed Maximum Scaled to Velocity Set maximum by Command velocity of 29 each axis Linear Joystick Axis N
34. o need to power down or reboot the computer USB to RS232 converters are available if you have no RS232 serial port S Step 2 Connect at least one additional T Series device to the shorter T JOY data cable female end Connect the power plug of your power supply 2 1mm center positive to the power connector of the T JOY The green LED should light on the T JOY and any connected T Series devices note not all T Series devices have LEDs Depending on the number of devices connected you may need to connect additional power supplies We recommend connecting a power supply to every second or third unit to reduce current draw through the data cables im Zaber VB6 Demo All com ports are currently closed Com Port m Open Com Port and 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 Data Description 0 2 0 Renumber all units 2 1 0 Home unit number 2 Page 6 of 32 Copyright Zaber Technologies Inc 6 CONTROL THROUGH THE RS 232 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 When the yellow LED on the T JOY blinks it indicates eithe
35. omputer and unit number 2 is next and so forth If an instruction is sent to unit number 0 bytel 0 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 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 0 2 0 0 0 0 Home unit number 2 2 1 0 0 0 0 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 integer values while the value you enter into the Data field can be signed The value in the data field is converted by the software to generate bytes 3 4 5 and 6 and then all 6 bytes are sent to the unit in sequence Most instructions cause the unit to reply with a return code It is also a group of 6 bytes The first byte is the unit number 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 Page 7 of 32 Copyright Zaber Technologies Inc 7 COMMAND QUICK REFERENCE The command quick references below provides a list of available T JOY commands at a glance A Detailed description of each command is given in the following section Note that a computer may also be used to control additional units in the daisy chain For a list of
36. onding decimal representation of this 32 bit data is given by Decimal value bit O 1 bit 1 2 3 4 bit n 2 31 2 Each bit controls a single mode option as described in the table below To determine the data value to use with the Set Device Mode command simply determine the desired value of each bit 1 or 0 and calculate the decimal value using the above formula Note that not all 32 bits are currently used Any unused or reserved bits should be left as 0 For example suppose you want all mode bits to be 0 except for bit O disable autoreply bit 14 disable power LED and bit 15 disable serial LED The Set Device Mode instruction should be sent with data calculated as follows Data value 2 4 2 425 1 16384 32768 49153 Note that each instance of the Set Device Mode command overwrites ALL previous mode bits Repeated commands do not have a cumulative effect For example suppose you send a Set Device Mode command with data of 1 to disable auto replies If you then send another Set Device Mode command with data of 16384 to disable the power LED you will re enable auto replies since bit_0 in the 2 instruction is 0 The T JOY has a default mode setting of 0 all bits are 0 2 Description bit_O 1 Disable Auto reply A value of 1 disables ALL replies except those to return commands commands 50 and higher The default value is 0 on all devices
37. pt to process the instruction itself If the instruction is addressed to the unit number of the T JOY then none of the downstream units will respond to it The T JOY however will send an Echo Data reply with the same data as the instruction to the computer The user can write an application to run on the computer which will interpret the Echo Data reply as an indication that a key event has occurred Different key events can trigger Echo Data instructions with different data so the user s application on the computer can detect individual key events and take appropriate action whatever the user decides that may be 8 9 Return Event Triggered Instruction 31 Firmware Version Version 5 04 and up Command Number 31 Data Bytes Indicates the event number for which to return the associated instruction Reply Data The reply data is the event triggered instruction unit command data associated with the event specified by the data Note This command is used to return to the user the event triggered instruction currently associated with a particular key event See the Load Event Triggered Instruction 30 for more information on definition of key events and event triggered instructions To return the event triggered instruction associated with a particular key event issue the Return Event Triggered Instruction 31 command to the joystick with data as follows Data Key 10 Trigger Where Key is a number
38. r the computer has sent an instruction or the T JOY has sent an instruction due to movement of the joystick or the buttons We recommend using the sample Visual Basic 6 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 daisy chaining new devices to the T JOY or rearranging the order of the devices you must assign each unit a unique identifier by issuing a renumber instruction after all the units in the chain are powered up You must not transmit any instructions while the daisy chain is renumbering or the renumbering routine may be corrupted Renumbering takes less than a second after which you may start issuing instructions to the T JOY and any additional devices in the daisy chain All instructions consist of a group of 6 bytes They must be transmitted 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 LSB Byte MSB The first byte is the unit number in the chain After renumbering unit number 1 is the closest unit to the c
39. sociated with the specified key event Note that this next instruction will not be executed by the T JOY but will be stored for execution whenever the corresponding key event is detected This instruction will also pass un hindered to any units that may be downstream away from the computer from the T JOY For this reason we recommended disconnecting downstream units from the joystick before loading or returning event triggered instructions Holdtime The following table shows the data value necessary to select a particular key event with which to associate the next instruction Key Event 1 Event 2 Event3 Event 4 1 11 12 13 14 2 2 22 23 24 3 31 32 33 34 4 41 42 43 44 5 51 52 53 54 The following table shows the default event triggered instructions associated with each key event Key Event Key Event Default Instruction Description Unit Command Data 1 1 11 255 255 0 1 2 12 0 23 0 Stop all units 1 3 13 0 1 0 Home all units 1 4 14 255 255 0 2 1 21 1 55 0 Echo the number 0 2 2 22 1 55 1 Echo the number 1 2 3 23 1 55 2 Echo the number 2 2 4 24 1 55 3 Echo the number 3 3 1 31 255 255 0 3 2 32 0 18 0 Go to stored position 0 3 3 33 0 16 0 Store current position 0 3 4 34 255 255 0 Page 17 of 32 Copyright Zaber Technologies Inc 4 1 41 2
40. thing 1 30 32 Program key 3 event 2 to trigger the instruction 0 18 6 All units Go To Stored Position in slot 6 1 30 33 Program key 3 event 3 to trigger the instruction 0 16 6 All units Store Current Position in slot 6 1 30 34 Program key 3 event 4 to trigger the instruction 255 0 0 do nothing Page 18 of 32 Copyright Zaber Technologies Inc Example 2 Programming two keys to control the motion of an additional unit You can program two keys to control the motion of an additional unit In the following sequence of commands key and key 2 are programmed to control unit 5 an additional unit beyond units 2 3 and 4 which are controlled by joystick manipulation After executing this sequence of instructions key can be used to move unit 5 in the positive direction slowly at first but faster if you hold the key down for longer than 1 second Key 2 will exhibit the identical behavior but with motion in the negative direction When either key is released the motion will stop Assuming that the joystick is unit 1 the programming sequence is as follows Unit Command Data Explanation of command 1 30 11 Program key 1 event 1 to trigger the instruction 5 22 1000 Unit 5 Move at Constant Velocity 1000 1 30 12 Program key 1 event 2 to trigger the instruction 5 23 0 Unit 5 Stop 1 30 13 Program key 1 event
41. 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 255 Error Firmware Version Version 5 00 and up Reply Number 255 Reply Data Error code An error has occurred The error code returned in the data indicates the type of error The unit may send an error code as a reply to an invalid instruction or it may autonomously send an error code as a triggered reply i e not in response to an instruction Please see the next section on error codes for a full table of possible error codes Page 27 of 32 Copyright Zaber Technologies Inc 10 ERROR CODES Whenever a T Series device returns 255 in byte 2 of a reply it indicates an error has occurred The data byte 3 6 will contain the error code which identifies the cause of the problem The error code is typically the command number of the instruction that caused the error but not always The following is a table of all possible error codes for the T JOY Error Code Description 14 Power supply voltage too low 15 Power supply voltage too high 25 Set Active Axis Data out of range Must be 1 2 or 3 26 Set Axis Unit Number Data out of range Must be between 0 and 254 inclusive
42. user Key released before Holdtime Key Released r bh e m Key Depressed URE Time Holdtime sec Key released after Holdtime Each of the 4 key events may be programmed to trigger a single instruction It can be seen that pressing and releasing a key will result in a sequence of key events that will be either 1 2 or 1 3 4 depending when the key is released Instructions associated with key events are called event triggered instructions When any key event occurs an event triggered instruction will be sent by the T JOY unit to all T Series units downstream away from the computer in the daisy chain If an event triggered instruction is addressed to unit O all units or is addressed to the unit number of the T JOY then the T JOY will execute the instruction itself If the instruction is addressed to unit 255 then the T JOY will neither send nor execute the instruction This provides a method for disabling a key event The Load Event Triggered Instruction 30 command is used to specify the key event that you wish to attach an instruction to The data value required is Data Key 10 Event Where Key 15 anumber from 1 to 5 corresponding to the Key location Event is a number from 1 to 4 corresponding to the Key Event Page 16 of 32 Copyright Zaber Technologies Inc The instruction received immediately after the Load Event Triggered Instruction 30 command will be the event triggered instruction as
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