A-MCA Product User`s Manual Firmware 5.00 and up Last Update
Contents
1. Appendix A Available Communications Ports 27 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 crw 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 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 28 Specification Integrated Controller Communication Interface Communication Protocol Maximum Current Draw Power Supply Power Plug Controller Maximum Current Per Phase Motor Connection Default Resolution Data Cable Connection Manual Control Axes of Motion LED Indicators Operating Temperature Range RoHS Compliant CE Compliant Weight Limit Sensors per Axis Linux Value Alternate Unit Yes RS 232 Zaber ASCII Zaber Binary Default motor dependent mA 12 48 VDC Molex Mini Fit Jr 3pin 2500 mA D sub 15 female 1 64 of a step Minidin 6 Indexed knob with push switch2. Expand the Ports COM amp LPT category A File Action view Window Help E aj x e Am E amp i2 PB A SA VM WIN NATHAN 18 Computer Management Local B System Tools E a Batteries E a Event Viewer fy Computer El Shared Folders Ge Disk drives E E Local Users and Groups El 2 Display adapters E Performance Logs and Alert 3 DVD CD ROM drives E Device Manager H E Human Interface Devices Sy Storage H IDE ATA ATAPI controllers Ej Removable Storage H 5 Keyboards Disk Defragmenter W Mice and other pointing devices 69 Disk Management El a Monitors E Sa Services and Applications i Network adapters Y Printer Port LPT1 4 USB Serial Port COMI 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
3. Motor Interface e Blinking Device is under manual control via the knob in Velocity mode The blinking rate is proportional to movement speed e Blinking at fixed rate Packet corruption has occurred for ASCII commands sent with a checksum ENC Blue Slip Stall e On The device is slipping e 2 short flashes every 1 sec The stationary device has been forced out of position e On Off cycle every 2 sec The device has stalled and stopped Indicators Installation The A MCA 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 plug 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
4. When device has not been homed The device will move at the slower of the maxspeed T 42 and limit approach 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 13 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 MCA ASCII Protocol The following table offers a quick command and setting reference for the A MCA 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 Quick Command Reference Firmware cogs Command Scope Parameter s Returns i Description Versions Instantly stops motorized esto Axis 0 6 06 estop movement m Device hoa Vitus 6 064 Retrieves the current value of ger and Axis 8 i the device or axis setting commands Displays the help information help Device reply 0 6 06 for the system command Mov
5. 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 23 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 sale 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
6. 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 24 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 25 Contact Information Contact 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 MCA Contact Information 26 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
7. 1 Power Comm Slip Stall Error 0 to 50 degrees C Yes Yes 0 15 kg 1 29
8. 4 Sets the access level of the user system axiscount Device No 6 064 The number of axes in the device system led enable Device Yes 6 064 Enables the front panel LEDs system serial Device No 6 15 The serial number of the device E Device No 6 06 The current temperature of the unit in degrees EPOCA Celsius system voltage Device No 6 06 The voltage being applied to the device version Device No 6 06 The firmware version of the 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 MCA 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 Binary Protocol Command Command Data Command Type Reply Data 17 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 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 Set Acceleration Set Maximum Position Set Cu
9. 6 Stores a number of positions for storepos positionlcurrent easy movement l l Refer to the Configures actions to be trigger Device 6 06 performed on the device when a documentation A MM certain condition is met Displays the active device and warnings Axis clear 0 6 06 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 Firmware M Setting Scope Writable Versions Description accel Axis Yes 6 06 Sets the acceleration used to modify the speed y The number of counts generated by the encoder cloop counts Axis Yes 6 06 for one full revolution Eas eni eua Axis Yes 6174 Direct reading encoder fine correction attempt e 9op curagonmax duration cloop mode Axis Yes 6 064 Sets the closed loop control mode f The amount of time to wait after a cloop stalltimeout PS di stall displacement condition in milliseconds The number of full steps required for the motor cloop steps pu ues eee to complete one revolution comm address Device Yes 6 06 The device address ees Device Ves 6 06 The device will send alert messages when this mE setting is 1 tes checksum Device Wes 606 The device includes checksums in its messages puce eee etu 1f this setting is set to 1 REST Device Yes 6 064 The communications protocol used by the device on the cur
10. A MCA 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 Table of Contents A A O 1 Conventions used throughout this COCUMENL sccssccsssscssssssssscssssccsssscssssssssssssssssssssssscssssssasssssescssees 2 A E 3 Device Overview AAAA AE A AE E A N ncuke sleeve eene pae deen sesesoneseccdpesavocesoessadeccusceeses Uva Us kl ee T eU UOS 4 CONNECT Roll ope Tse ted het ceti eene dicemus d 4 ludus c 4 RS232 Communications secet E dee rettet Phe e e ro eee Ere td Ee ERR ee Derek 4 Motor Interlace cnica lila iii ve Eoo reto bee beoe bec eese Da 4 ATICO in coss rq uo A da Ek A Rec edd 5 NAT ELNO i PERR EA TE E EEE A A E IEEE 7 Daisy Chainine DEVICES ROTE 7 Gro ndi g A AA A ER A A a ER A 8 Quick T torlal ete eeet eere eetes avete s eee e aee etel ee Pues ene Teese se eue bdo se haoa Ea eA aE aa aa a aiaa aniani asni 9 Tinta Setup REOR 9 EE A RT OR CN 9 Usingithe Device i e n e et eri UR TOS EGRE EGER TE VR EE HE NT en pata 10 Modifying Device Settings mee HD Ht need es 10 Built In Help eee etti diee el eto ERE co Neu the El eei iode dada casta 10 Mania BODIE RL 12 Velocity Mode ee e are EN ias 12 Displacement Mode hue rei delete 12 Summary of knob functionality oooooinnccnnnccconccnonancnonaconnnocon
11. Pn eara sidesconeesioodedsvecssasesesascevecesdbanseassopsesvasevoosces sveesivedsevacessesesescesvisevvestsvsecesens 25 Contact E HELLO PORE TIERE D ee 26 Appendix A Available Communications Ports eee eee e eee eren ee eee ette sten aestas eee to setas etas e etta sea 27 Finding Installed Serial Ports 22 1 2 rti itt reet ten ge Ra at loe ceeehed iealstauaees 27 WII WS A EEEE mosca EA C ke Adidas E os dado NO he KR 27 LU do e e e ln NIE RENE A POLARIS TEENS 27 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 e 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 ASCH Prot
12. WR O 01 O COMMAND USAGE 01 0 stop stop all devices 01 0 1 stop stop device number 1 0l o 41 2 Step 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 Initialization 10 To access help for a specific command for example the move command send 1 help move e01 01 01 01 01 01 0 OoOooo0c OK IDLE move move move move move abs rel vel min max Built In Help 0 x x x Move Move Move Move Move to by at to to absolute position relative position constant velocity minimum position maximum position 11 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
13. acking Period 119 Tracking Period Setting Tracking Period Set Stall Timeout 120 Timeout Setting Timeout Set Device Direction 121 Direction Setting Direction 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 19 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 1 65 unpark command or home T 1 the device Green LED Flashes Slowly The operating conditions of the device are outside of the recommend
14. been triggered limit home type Axis Yes 6 06 The type of home sensor connected limit away action Axis Yes 6 06 Automatic limit switch action limit away edge Axis Yes 6 06 Sensor edge to align action to N Axis Yes 6 06 The updated position of the sensor when AA triggered a Axis Yes 6 06 Position update to occur when sensor is unn POSupcale triggered limit away preset Axis Yes 6 06 The default position of the away sensor limit away state Axis No 6 06 The state of the home sensor o ets Axis No 6 06 Whether the away sensor has been triggered ee previously limit away type Axis Yes 6 06 The type of away sensor connected icons Axis Yes 6 06 The maximum position the device can move to ERRE measured in microsteps limit min Axis Yes 6 06 The minimum position the device can move to mmm 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 iamen Adae Axis eaa 6 06 Sets the deceleration used when decreasing the mouon cece ony speed peripheralid Axis Yes 6 064 The id of the connected peripheral pos Axis Yes 6 064 The current absolute position of the device resolution Axis Yes 6 064 Microstep resolution RS Device No 6 144 The number of stream buffers provided in the a EPESE device stream numstreams Device No 6 144 The number of streams provided in the device system access Device Yes 6 06
15. ed 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 will 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 20 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 posit
16. er Device Id Version Voltage Setting Value Status Data Build Number Position 18 Read Only Setting Return Serial Number 63 Ignored ll Serial Number Setting Set Park State 65 Park State Setting Position Set Peripheral Id 66 Peripheral Id Setting Peripheral Id Set Auto Reply Disabled Mode 101 Auto Reply Mode Setting Auto Reply Mode Set Message Id Mode 102 Message Id Mode Setting Message Id Mode Set Home Status 103 Home Status Setting Home Status Set Home Sensor Type 104 Home Sensor Type Setting Home Sensor Type Set Auto Home Disabled 105 Auto Home Disabled Setting Auto Home Disabled Mode Mode Mode Set Minimum Position 106 Minimum Position Setting Minimum Position Set Knob Disabled Mode 107 Knob Disabled Mode Setting Knob Disabled Mode Set Knob Direction 108 Direction Setting Direction Set Knob Movement Mode 109 Movement Mode Setting Movement Mode Set Knob Jog Size 110 Jog Size Setting Jog Size Set Knob Velocity Scale 111 Velocity Scale Setting Velocity Scale Set Knob Velocity Profile 112 Velocity Profile Setting Velocity Profile Set Acceleration Only 113 Acceleration Setting Acceleration Set Deceleration Only 114 Deceleration Setting Deceleration Set Move Tracking Mode 115 Tracking Mode Setting Tracking Mode ee EPT e Trackin 116 Tracking Mode Setting Tracking Mode Set Move Tracking Period 117 Tracking Period Setting Tracking Period Set Closed Loop Mode 118 Closed Loop Mode Setting Closed Loop Mode Set Slip Tr
17. es the axis to the home home Axis 0 6 06 za rfr osition abslrellvel value 3 Moves the axis to various move Axis minimax 0 6 06 23 positions along its travel stored number i Renumbers all devices in the renumber Device value 0 6 06 j foe dao chain Device A Sets the device or axis settin set setting value 0 6 06 8 and Axis setting to the value Decelerates the axis and brings sto Axis 0 6 06 A stop it to a halt Performs an action related to Refer to the Refer to the stream Device 6 12 streamed interpolated documentation documentation E multi axis motion i Resets the device as it would system reset Device 0 6 06 appear after power up system Restores common device System Device 0 6 06 restore settings to their default values y Echoes the provided message if tools echo Device message 0 6 06 P Be any back to the user tools Axis 0 6 10 Uses the home and away findrange sensors to set the valid range of 14 the axis Saa l limit dir action Moves the axis to a limit sensor otolimit Axis update 0 6 06 and performs the provided PEER actions Parking allows the device to be tools turned off and used at a later parking Device qtatopenetunpark 0H por time without first having to home l Sets RS232 baud rate and eae aie Device rs232baud protocol 0 6 06 communication protocol for RS232 and USB tools Axis number Olposiion 6 0
18. 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 peripheral 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 Specifications 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 7 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 B
19. iew EME KNOB RON power Connectors Power Pin Description 1 12 48V 2 GND 3 Chassis RS232 Communications Pin Previous Next Transmit Receive Ground Ground Female Male Next Device Prev Device Du hh UN Receive Transmit Default Settings Baud Rate 9600 e Protocol Binary Specifications e Supported Protocols Zaber ASCII Zaber Binary e Supported Baudrates 9600 19200 38400 57600 115200 e Bits 8 e Parity None e Stop Bits 1 e Flow Control None Motor Interface Pin Description 1 5V Device Overview N C i N C DSUB 15 Female 4 N C Motor Interface 5 Home Limit Sensor 6 Ground 7 Motor Bl 8 Motor Al 9 Encoder 45V 10 Encoder A 11 Encoder B 12 Encoder Index 13 Encoder Ground 14 Motor B2 15 Motor A2 NOTE The limit sensor inputs are pulled up to the internal supply rail and are designed to be pulled low by an open collector NOTE All sensor and encoder inputs are non isolated 5V TTL lines Indicators PWR Green Power e On Controller is operational e Blinking at 2Hz The power supply voltage or device temperature is out of range e 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 e On Device is moving or data is being transferred
20. inary Protocol Chain The DSUB9 devices comm protocol 1 123 should be set to 1 Binary and the comm rs232 baud T 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 DSUB9 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 damage to the device due to static buildup the device should be properly grounded Failure to ground the unit may result in the unit shutting down unexpectedly or ceasing to communicate with the computer This problem can be minimized by not touching the unit during operation If the unit fails due to static discharge unplugging it and plugging it back in or sending a 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 sensi
21. ion 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 environment 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
22. ition Limits The travel range of the device is confined by the Minimum Position and Maximum Position settings 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
23. 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 home T 1 the device to see if this corrects the behaviour 0 Send a system restore T 36 command Ensure that the periid setting of the devices corresponds to the attached device A list of peripheral ids are available at the Peripheral Ids page Communication Errors There is no communication with the device the Yellow LED does not come on or flash Manual Control 21 There are several things should be checked 0 Make sure the correct serial port is selected Try selecting other serial ports in the software 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 cu
24. mmand Reference section below Command Description 1 1 get pos 1 60 Query the current position of device 1 axis 1 1 1 move abs 10000 1 20 10000 Move device 1 axis 1 to position 10000 microsteps ar T 21 12800 Move device 2 axis 1 in the negative direction by 12800 microsteps Decelerate and stop ALL axes on device 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 1 22 153600 Here are some examples if you would like to customize particular device settings Refer to the ASCH 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 7 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
25. nccnncnnnnnonnnnocnnn nano nennen tenentes ente sententie nen 12 Trajectory Control and Behaviou csccssccssssssssscsssssssssssssccsssssssssscsssssssccssssssssessssssssssssssssssessssssssssscsass 13 Software Position Tits tada ae buen Coro eoe aee edades ETA 13 Movement Speed te ette De rte te etse c ive rs ee ee E erede AA AAA tE ee undas 13 Quick Command Reference 2 erect reet eee notre na ete eE a nete anni non tn Fa deos Pe Fee ork Fred e epa ede en sese en esee eee Fees eu EnadenR 14 ASCIEPEOtOCOL ettet tarte e te eee t tee b depre b aere oe odere ioo de fee bel ee Da taete bata A Devi bteee te bte os den 14 Quick Commards 75 erm eu DE Mn 14 Quick Device Settings niae eae ERREUR Gen eu A e Get Ses 15 Binary Protocol ud RE Rr HE e Wette see e rn eU 17 Troubleshooting A Series Closed Loop Motion Devices 20 bront Panel IndiCators dla ea MIC T 20 Manual Control nnn ia Ste nee tette vto vost ee e even ees ti sec er deve aient 21 Unexpected BehavIOUE eI ote e en et ORE Ee Lee eise ge a erii eet toe slstaces 21 Communication ETtOES Sado dados Pe e e EE 21 Slipping and Stalling 5 ni OQ o EEG ORO UG iia 23 Table of Contents AAA E SeT Sae ES 24 Standard products A eH A ee D CARE Ai 24 C stom products iia et e EL Nae er ie bte der irene 24 How to return products 5 5 3 eH e tere ete e seeded re ede ke dee eae toe UE RR re deed 24 Email Updates e eoo
26. ocol is only supported in devices with firmware version T 51 6 06 and above Conventions used throughout this document Precautions The A MCA series of stepper motor controllers are intended to drive a wide variety of motors It is not possible to choose factory default settings that will work with every motor that may be connected Therefore you will need to change some of the settings from the default values to match the motor you are driving For a Zaber peripheral device a complete setup can be accomplished by configuring the peripheralid T 66 setting with the peripheral s ID number See the detailed usage examples for more information on how to modify the settings particularly for non Zaber peripherals Damage to the actuator may result if the recommended settings are set improperly WARNING Serious damage can occur to stepper motor products when operated with significantly higher than rated current The A MCA controller can provide up to 2 5A of current to a peripheral BEFORE CONNECTING A NEW DEVICE to the A MCA controller it is important to set the correct motor parameters in the controller Please check the rated current for any peripheral device before changing the current settings on the A MCA from the default values To put the A MCA controller into safe mode low current settings configure the peripheralid T 66 setting to 0 If you have any questions please contact Zaber Technical Support Precautions 3 Device Overv
27. or counter clockwise for negative direction retract Each detent of the knob increases the speed of the 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 e Pressing the knob Decelerates and stops the device identical to a Stop command Instantly stops the device if the device is already decelerating e Pressing and holding the knob for 1 sec Toggles between Velocity Mode and Displacement Mode Manual Control 12 Trajectory Control and Behaviour This section describes the behaviour of the device trajectory when a movement command is issued Software Pos
28. rent interface RATES Device Yes 6 064 The baud rate used by RS232 Prev and Next E CAN interfaces comm rs232 protocol Device Yes 6 09 pie PEO US A drew and Next interfaces deviceid Device No 6 06 The device id for the unit Quick Commands 15 Current used to hold the motor in position in 25 driver current hold Axis Yes 6 06 ME rm Axis No 6 164 Maximum legal value of driver current hold and a driver current run driver current run Axis Yes 6 06 Current used to drive the motor in 25 mA units driver dir Axis Yes 6 06 Reverse the motor driver output direction encoder count Axis Yes 6 06 The recorded counts of the axis encoder encoder diz Axis Yes 6 06 Inverts the counting direction for the axis MA encoder encoder error Axis No 6 174 Position error measured by encoder ER Axis Yes 6 06 Enable and set up digital filtering of the encoder ru inputs Ense qo dM EIE Axis Yes 6 06 The recorded counts of the axis encoder index AAA oT pulse ne on ae ere Axis Yes 6 064 The operating mode of the axis encoder index PERRA signal an nl Axis Yes 6 064 The required phase for an index pulse to be encocerincex pnase counted encoder mode Axis Yes 6 067 The operating mode of the axis encoder encoder pos Axis No 6 174 Position measured by encoder knob dir Axis Yes 6 064 Sets the movement direction for the knob Sets how far the device mo
29. rrent 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 Binary Protocol 51 52 53 54 55 56 60 Ignored Ignored Ignored Register Address Register Address Data n a n a n a n a n a n a Address Address Address Absolute Position 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 Command Command Command Command Setting Command Reply Reply Reply Reply Reply Reply Command Command Command Command Command Command Command Command Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Read Only Setting Read Only Setting Read Only Setting Command Read Only Setting Command Read Only Setting None Final position in this case 0 Device Id Data Register Address Data Tracking Position Final Position Tracking Position Final Position Tracking Position Final Position Address Stored Position Final Position Final Position Final Position Speed Final Position Peripheral Id Microsteps Value Value Mode Speed Speed Acceleration Range New Position Offset Alias Numb
30. stom 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 control 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 de
31. tive 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 8 Quick Tutorial The following tutorial uses Zaber Console to communicate with the device s Please refer to the ASCH 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 being installed NOTE Ensure no motors are connected to the controller before applying power for the first time Powering up the controller with a peripheral connected before it has been properly configured can result in damage to the peripheral and controller 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
32. 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 4 On the new unit configure the peripheralid setting of each axis with either the ASCII set peripheralid command or the Binary T 66 command The Peripheral Id for Zaber devices can be found on its identification label Alternatively a full list of Peripheral Ids can be found at Zaber Support Peripheral IDs This step needs to be performed whenever a motorized peripheral is changed for a different type If a 3rd party peripheral is being driven please contact Zaber Technical Support for assistance 5 Connect the motorized peripherals Initialization Every time the controller 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 Quick Tutorial 9 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 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 Co
33. ves 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 pnob tmaxspeee 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 A laste lives 6 06 Maximum speed used when approaching a limit punt approach maxspeco sensor limit detect decelon Axis Yes 6 064 Deceleration used when stopping after a limit put derect dece on y sensor has triggered limit detect maxspeed Axis Yes 6 06 Mese ge Spee Use on a limit sensor as Axis Yes 6 06 Reverses the limit positions by swapping the ICA home and away sensors limit home action Axis Yes 6 06 Automatic limit switch action limit home edge Axis Yes 6 06 Sensor edge to align action to Vr homepas Axis Yes 6 06 The updated position of the sensor when PEE ERR triggered limit home posupdate Axis Yes 6 064 FUSION le da triggered limit home preset Axis Yes 6 06 The default position of the home sensor Quick Device Settings 16 limit home state Axis No 6 064 The state of the home sensor tdi Axis No 6 06 heats home sensor has
34. vice 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 0 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 recognize 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 22 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
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