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T-Series Positioning Products User`s Manual Firmware 5.00 and up

1. eae seen seta sesta ee 11 DETAILED COMMAND REFERENCE to seta sette ess eese eaae eoa 14 8 1 RESET 0 eee aca eade ate ene beet diee tpe hee e de died dias 14 8 2 HOME Gt iecit deeem bibe ie tpi oce 14 8 3 RENUMBER 2 ie ie a inde cites die bc de 14 8 4 STORE CURRENT POSITION HTO hereroene e E E EE ae NEEE ERES 15 8 5 RETURN STORED POSITION BIT sasssa adus acide ai cei eerie e css 15 8 6 MOVE TO STORED POSITION 3118 esee enne eene 15 8 7 MOVE ABSOLUTE 920 54 5 tiet adu tert eter cds e A cud 16 8 8 MOVE RELATIVE 12 1 anita e aA ae tin eee eie ad Sas 16 8 9 MOVE AT CONSTANT VELOCITY 22 ccccccccessssceesscecesssececsessececssssecsesaeeecseaaeeecseseeesssneeeneaaees 16 8 10 STOP G23 aet and taedet aua ndo Rave itta d td Bette ariete uec iuis 17 8 11 READ WRITEBEEPROM 35 4 ani adea ie aee cade ade et ei ea rete 18 8 12 RESTORE LOCK UNLOCK SETTINGS 36 18 8 13 SET MICRO STEP RESOLUTION 37 19 8 14 SET RUNNING CURRENT 1538 ue Hte Beides e ek te cd 20 8 15 SET HOLD CURRENT 3139 et m Hp ee rie ber bere phe dete ree eE He d 21 8 16 SET DEVICE MODE 110 tre nie a ete an ak uere Pide fi diee d 21 8 17 SET TARGET VELOCITY 42 si t
2. Firmware Version Version 5 00 and up Command Number 37 Data Bytes Valid data are 1 2 4 8 16 32 64 128 Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset This setting changes the number of micro steps per step Valid data are 1 2 4 8 16 32 64 and 128 The default on most devices is 64 All position data sent to or received from T Series products is in units of micro steps Note that when you change the micro step resolution using this command other position related settings are changed automatically to adjust for the new micro step size The table below gives an example showing how other settings are affected when the micro step resolution is changed from 128 to 64 Example of settings affected when Micro step Resolution is changed from 128 to 64 Setting Before After Target Speed 2922 1461 Maximum Travel Range 280000 140000 Current Position 10501 5250 Maximum Relative Move 20000 10000 Home Offset 1000 500 Acceleration 100 50 Page 19 of 49 Copyright Zaber Technologies Inc The setting for these command is saved in non volatile memory i e the setting persists even if the device is powered down To restore all non volatile settings to factory default use command 36 Note that if a number is divided by two it is rounded down to the nearest wh
3. eerte snart 31 9 4 REPLY 141255 BRROR ashamed rae tee te ape a EAE 32 ERROR CODES essa 32 Page 2 of 49 Copyright Zaber Technologies Inc 11 DEVICE SPECIFIC INFORMATION ssscccssssscssssscccsssscccssscccesssscccessscccessceccscssccccssecccessseese 34 11 1 T CD SERIES CHOPPER DRIVE STEPPER CONTROLLERS ccccccccececesesesesecececeseseseseseseeseseseeeees 34 11 2 T HLA SERIES HEAVY DUTY LINEAR ACTUATORS ddr 35 11 3 SERIES LINEAR ACTUATORS ccccccccccscseccscsecesesesesesesesesesesesesssesesesesesesesesssesesesesseseseauaes 35 11 4 T LLS SERIES LONG TRAVEL LINEAR SLIDES ccccccccccececesesecesesesesesesesesesesesesessseseesesesesuees 36 11 5 TS LINEAR STAGES Hee eere rain bana sn 36 11 6 T LSR MOTORIZED LINEAR STAGE WITH BUILT IN CONTROLLERS eene 37 11 7 T NM NEMA STEPPER MOTORS WITH BUILT IN CONTROLLERS eene 38 11 8 T MM 2 AXIS MOTORIZED MIRROR MOUNTS ccccccccccccecesecesesecesesesesesesesesesesesessseseeseseesenes 39 12 MANUAL CONTROL AND LED INDICATORS e eeeeee eese ee eene nones tete tasa sese e esee eese sese eo 40 13 TROUBLESHOOTING er rete epus oo etras oe en ran Fou EE Ye UE ve Leer 41 14 DATA CABLE PINTOUT DIAGRAM eee ee eee en oe ee ss ass ss assa sees een eee assa enne eS 43 15 WARRANTY sasssa A 44 1
4. the device 4 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 10 of 49 Copyright Zaber Technologies Inc 7 COMMAND QUICK REFERENCE The command quick references below provide a list of available commands at a glance A Detailed description of each command is given in the following section Command Reference for Firmware Version 5 xx Command Data Bytes Reply Data Page 0 Reset Ignored None 14 1 Home Ignored Absolute Position 14 2 Renumber 0 or desired Device Address Device ID 14 16 Store Current Position Position save slot 0 15 Echo of Command Data 15 17 Return Stored Position Position save slot 0 15 Absolute Position 15 Saved 18 Goto Stored Position Position save slot 0 15 Reply as a Move 15 Absolute Command 20 Move Absolute Absolute Position Absolute Position 16 21 Move Relative Absolute Position Absolute Position 16 22 Move at Constant Velocity Velocity Echo of Command Data 16 23 Stop Ignored Absolute Position 17 35 Read Write EEPROM See Detailed Reference See Detailed Reference 18 36 Restore Default Settings 0 or Peripheral ID Echo of Command Data 18 37 Set Micro Step Resolution Micro Steps per Step Echo of Command Data 19 38 Set Running Current Running Current Settin
5. The device moves to the position given by its position before the command plus the value in the data bytes The final position must be within the acceptable range for the device or an error code will be returned All move commands are pre emptive If a move relative command is issued while the device is currently moving due to a previous command the device will immediately set a new target position equal to the current position at the instant the command was received plus the specified relative position The target speed and acceleration during a move relative instruction can be specified using commands 42 and 43 respectively 8 9 Move at Constant Velocity 22 Firmware Version Version 5 00 and up Command Number 22 Data Bytes Data corresponding to the desired speed based on the formula Speed microsteps second 9 375 Data Negative values cause retraction Positive values cause extension Reply Data The unit will immediately echo the command data The unit may be set to return its position continuously during the move using the set mode command 40 bit 4 Position tracking is a reply only command 8 If the unit runs into zero position or maximum range the unit stops and the new position is returned via reply only command 9 Note Command may pre empt or be pre empted by commands 18 20 21 22 and 23 Page 16 of 49 Copyright Zaber Technologies Inc This instruction specifies a direction and a s
6. Version Version 5 00 and up Command Number 60 Data Bytes Ignored Reply Data Current absolute position This causes the unit to return its current position in micro steps Page 30 of 49 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 such as when the user turns the potentiometer when the device may transmit data without first receiving a request from the controlling computer This type of reply may be considered to be a triggered reply as opposed to a requested reply In this case the device uses a reply only command number to distinguish the reply from those requested by the controlling computer The meanings of these replies and their corresponding data are given below 9 1 Reply 8 Position tracking during instructed move Firmware Version Version 5 00 and up Reply Number 8 Reply Data Current absolute position in microsteps The unit has been set to position tracking mode see Set Mode instruction and given a move instruction In this mode the unit sends this reply at regular intervals updating the current position during any move 9 2 Reply 9 Actuator stopped Firmware Version Version 5 00 and up Reply Number 9 Reply Data Current absolute position in microsteps The unit stopped moving because it reached either li
7. counterparts with the following exceptions Lubrication All lubricated interfaces motor bearings leadscrews leadnuts etc are cleaned and re greased using a vacuum compatible lubricating gel NyeTorr 5300 vapor pressure 5x10 9 Torr at 25 C We make every effort to remove all trace of the original greases some components arrive from our manufacturers pre assembled and pre greased but for best results we recommend degassing the units before use in the final application Power No power connectors are provided on vacuum compatible devices Instead the power must be supplied through the data cable lines A special serial adapter with power input is provided Data cable extensions Vacuum compatible devices use the same mini din cable extensions as our standard devices however the cable jacket is stripped back to the connectors to expose the individual wires The mini din connectors are left attached to facilitate easy testing In your final application you can cut the wires and splice them to a feed through on your vacuum chamber Communication lines can be wired back to the appropriate mini din connector outside your vacuum chamber Power lines can be wired to any appropriate power supply See the table below for pinouts If you have multiple units inside the same vacuum chamber you may connect them using the attached mini din connectors or for improved vacuum compatibility you may remove the connectors and permanently wire the units togeth
8. firmware versions that may have been released since the printing of this manual please check the support section of Zaber s website where user s manuals for all versions of firmware are posted for download You may also wish to read the document Zaber T Series Firmware History and Migration which should be posted on Zaber s website as well and updated regularly This document specifies what version of firmware currently ships standard on each device as well as outlining the changes that have taken place from one firmware version to the next and indicating what options are available if you wish to upgrade or downgrade the firmware on your devices 3 CAUTION Zaber s positioning devices are precision instruments and must be handled with care In particular leadscrews must be treated with care Axial loads in excess of the stall load axial and radial impact dust and other contaminants and damage to the leadscrew thread will reduce the performance of the unit below stated specifications Performance depends very much on the condition of the leadscrew On actuators such as the T LA and T HLA series the plunger should always be left in the fully retracted position home when not in use This protects the leadscrew from the environment The leadscrew may be cleaned periodically for best results To clean the screw first use methanol to dissolve old grease and contaminants There are plastic components that may be damaged by some strong sol
9. is the best tuning technique The device extends and retracts smoothly but will not retract to the home zero position The device will not retract below what it believes to be the zero position If the unit has missed steps due to a previous stall condition or if the unit has been set to an incorrect position the device may incorrectly believe it is at the zero position You can solve the problem by issuing the home command or by turning unit on and off and manually homing it Page 42 of 49 Copyright Zaber Technologies Inc 14 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 Towards next unit Male PS2 Pin outs 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 pu Female Mini Din 6 Mini Din 6 DB9 Function 2 2 Device Transmit Computer Receive 3 5 Ground 6 3 Device Receive Computer Transmit All Other Not Connected LED O 54321 O 9876 Female 089 Page 43 of 49 Copyright Zaber Technologies Inc 15 W
10. range 8388863 2 4194431 Note that Peripheral IDs are not the same as Device ID Any T Series device T LA28A T CD1000 would have a Device ID Any motor or actuator that does not have a prefix but is designed to connect to T CD1000 or T CD2500 would have a Peripheral ID Command 50 returns Device ID while Peripheral IDs are used with command 36 on T CD1000 or T CD2500 to set various defaults to work with a particular motor or actuator 21 4 Defaults Common to All Peripherals Setting Default Resolution 37 64 Target Velocity 42 2922 Acceleration 43 111 Maximum Relative Move 46 Range 44 in table above Home Offset 0 Antibacklash Antisticktion Distance 10 x Resolution 10 x 64 640 microsteps Page 49 of 49
11. the second formula above giving a maximum speed regardless of resolution of 4800 steps sec The target velocity may be changed on the fly even when the unit is in the middle of a move The unit will automatically adjust the velocity but still target the final position specified in the original move 8 18 Set Acceleration 43 Firmware Version Version 5 00 and up Command Number 43 Data Bytes Data corresponding to the desired acceleration based on the formula Acceleration microsteps second 2 11250 Data Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset Page 25 of 49 Copyright Zaber Technologies Inc When a move absolute or move relative instruction is issued the device will accelerate at a rate determined by this command Set Acceleration up to a maximum speed determined by the target velocity To determine the acceleration that will result from a given data value the following formulas may be used Acceleration 11250x Data microsteps sec 2 or 11250x Data R steps sec 2 Where Data is the absolute value of the Constant Speed Move instruction data R micro steps step is the micro step resolution command 37 The maximum Data allowable is 512 R This is the same as the maximum allowable data for velocity which means that the device will reach maximum velocity immediately If
12. until the home sensor is triggered then move forward until the home sensor is no longer triggered then move forward by the Home Offset value in micro steps and call this position 0 Note that the home offset command also changes the range For example if the initial home offest is 0 and the range is 500 000 and the user changes the home offset to 70 000 then the range is automatically adjusted to be 430 000 However changing the range does not affect the home offset 8 23 Set Alias 48 Firmware Version Version 5 00 and up Command Number 48 Data Bytes 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 non volatile memory and will persist after power down or reset Page 27 of 49 Copyright Zaber Technologies Inc This creates an alternate unit number for a device in addition to its actual unit number By setting several aliases to the same value you can control groups of units with a single instruction When you send an instruction using an alias unit number all devices with that alias will execute the instruction and reply using their actual unit numbers To remove an alias simply set it to zero 8 24 Return Device ID 50 Firmware Version Version 5 00 and u
13. up Command Number 16 Data Bytes 0 to 15 indicting position register in which to save the position Reply Data Echo of Command Data Note Positions stored in the position registers are non volatile and will persist after power down or reset All position registers are cleared by the Restore Factory Settings 36 command The device saves its current absolute position in one of its 16 position registers 0 thru 15 as indicated the data bytes This command is used in conjunction with the Return Stored Position 17 and Move To Stored Position 18 commands 8 5 Return Stored Position 17 Firmware Version Version 5 04 and up Command Number 17 Data Bytes 0 to 15 indicting position register from which to return the position Reply Data Absolute position stored in the specified register Note Positions stored in the position registers are non volatile and will persist after power down or reset All position registers are cleared by the Restore Factory Settings 36 command The device returns the position stored in one of its 16 position registers 0 thru 15 as indicated by the data bytes This command is used in conjunction with the Store Current Position 16 and Move To Stored Position 18 commands 8 6 Move To Stored Position 18 Firmware Version Version 5 04 and up Command Number 18 Data Bytes 0 to 15 indicting position register containing the target position to m
14. 0 steps sec 8 10 Stop 23 Firmware Version Version 5 00 and up Command Number 23 Data Bytes Ignored Reply Data Current absolute position Note Command may pre empt or be pre empted by commands 18 20 21 and 22 This instruction can be used to pre empt any move instruction The unit will decelerate at a rate determined by command 43 Set Acceleration and stop Page 17 of 49 Copyright Zaber Technologies Inc 8 11 Read Write EEPROM 35 Firmware Version Version 5 00 and up Command Number 35 Data Bytes Byte 3 specifies the address and action to be performed read or write Byte 4 specifies the data to write it is ignored for reads Bytes 5 and 6 are ignored Reply Data The reply data is simply an echo of the command data except that byte 4 contains the data read from the specified address Note These settings are stored in non volatile memory and will persist after power down or reset This command is used to read or write a byte of non volatile memory 128 bytes of EEPROM memory are available for user data For example the user may want to save some custom data such as a serial number aname string or data that uniquely identifies a particular device Data written is not cleared by power down or reset The most significant bit of byte 3 specifies whether the instruction is a read 0 or a write 1 The least significant 7 bits of byte 3 specify the address to r
15. 0000 20 100 50 127 31160 NA11B60 3072 620000 20 100 50 127 31416 NA14B16 3072 170000 40 127 100 127 31430 NA14B30 3072 315000 40 127 100 127 31460 NA14B60 3072 630000 40 127 100 127 21 3 NM Series Peripheral ID Product Name Mode 40 Range 44 T CD1000 T CD2500 Run Hold Run Hold Current Current 2081 NM08A 3072 8388863 25 100 60 127 2082 NMO8B 3072 8388863 25 100 60 127 2111 NMIIA 3072 8388863 20 40 50 100 2112 NMIIB 3072 8388863 20 40 50 100 2113 NMIIC 3072 8388863 20 40 50 100 2171 NMI7A 3072 8388863 20 40 50 100 2172 NM17B 3072 8388863 20 40 50 100 2173 NMI7C 3072 8388863 20 40 50 100 2231 NM23A 3072 8388863 20 40 50 100 2232 NM23B 3072 8388863 20 40 50 100 2233 NM23C 3072 8388863 20 40 50 100 2341 NM34A 3072 8388863 10 20 25 50 2342 NM34B 3072 8388863 10 20 25 50 2343 NM34C 3072 8388863 10 20 25 50 Page 48 of 49 Copyright Zaber Technologies Inc When using NMO8 series motors with a T CD2500 even at the minimum hold current the motor tends to get quite hot We recommend using a T CD1000 with these motors if possible or setting the hold current to zero if your application does not require a hold current Using NM34 motors with a T CD1000 is not recommended since the T CD1000 is only capable of driving 1A per phase which is half the rated current of the motor initial positions at powerup in the NM series are equal to half of maximum
16. 6 R 44 17 UPDATES st 44 18 DISCLAIMER He 44 19 TECHNICAL SUPPORT AND CONTACT uuu ccssccccssssccssssscccsscscccsssscccsssecccessccscccssscccsssccscssscees 44 20 APPENDIX A DEVICE ID AND SETTINGS cccccossscsscscccsssscccsccccccsssscssececccssssscssececcssssssees 45 20 1 DEVICE SPEGIFIC DEFAULTS a a 45 20 2 DEFAULTS COMMON ALL T SERIES ACTUATOR DEVICES lesser 46 21 APPENDIX B PERIPHERAL ID AND SETTINGS sccccccsssscscsccsccssssscssecccccssssssssececcssssssees 47 21 1 EMR SERIES c 47 21 2 48 21 3 ERIES 66 oi 48 21 4 DEFAULTS COMMON ALL PERIPHERALS cccccccccccececesesececesesesesesesesecesessesseseseseseseseesesesusnaes 49 Page 3 of 49 Copyright Zaber Technologies Inc 1 ZABER T SERIES POSITIONING PRODUCTS T LA Series Linear Actuators T HLA Series Heavy Duty Linear Actuators T LS Series Linear Stages T LSR Series Motorized Linear Stage T MM Series Motorized Mirror Mounts T CD Series Chopper Drive Stepper Controller T JOY Series Programmable Joystick Controller Product Updates If you would like to receive our quarte
17. ARRANTY 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 series devices are also guaranteed for one year or 50 000 cycles whichever comes first During this period Zaber will repair or replace faulty units free of charge Customers are responsible for shipment back to Zaber For complete details of our warranty and other policies please see our website 16 REPAIRS If your unit needs repairs please Contact us to obtain an RMA number Onunits with exposed leadscrews i e T LA series if possible retract the lead screw fully into the housing This way the lead screw is protected from damage during shipping Pack the unit well Emailus the tracking number of the shipment i e FedEx or UPS 17 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 18 DISCLAIMER Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where product malfunction or failure could cause personal injury or death or damage to equipment Zaber disclaims any and all liability for injury or other damages resulting from the use of its products 19 TECHNICAL SUPPORT AND CONTACT You can con
18. Data Bytes Ignored Reply Data Absolute Position in this case 0 The device retracts until it triggers its internal home switch It then moves forward several steps to avoid accidentally triggering the home switch during use If a home offset has been specified with the Set Home Offset the device will extend the additional distance specified It will then stop and call this position 0 6 3 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 itself the unit number specified in the data bytes Renumbering takes about 1 2 a second during which time the computer must not send any further data Page 14 of 49 Copyright Zaber Technologies Inc The unit number is stored in non volatile memory so you can renumber once and not worry about issuing the renumber instruction on each power up 8 4 Store Current Position 16 Firmware Version Version 5 04 and
19. If you have a device with manual adjustment turn the potentiometer counterclockwise to home the device When operating manually you must home the device every time you disconnect or turn off the power You will not be able to achieve the maximum travel until you have homed the device After the unit retracts completely it will stop automatically and you can turn the potentiometer clockwise to extend the device If you have a T xxxx S model you cannot control the unit manually Instead you must install the device on a computer See the next section for information on how to do this Page 7 of 49 Copyright Zaber Technologies Inc 5 INSTALLATION 5 1 Connection to a Computer dh Step 1 Plug the Mini DIN to D Sub serial adapter into your computer s serial port and plug the device s data cable into the adapter You may need to use a cable extension to reach your computer There is no need to power down or reboot the computer USB to RS232 converters are available if you have no RS232 serial port Step 2 Connect the power plug of your power supply 2 1 mm center positive to the power connector of the device The green LED should light indicating the unit has power iw Zaber VB6 Demo com ports are currently closed Com Port hn ox Unit Open Com Port and Command D Step 3 Install a demo program from the included CD or download one from the support section of our website ht
20. S28B SI T LS28B SM 2048 64 128 10 17 50 50 282879 282879 180 T LS80 I T LS80 M T LS80 SI T LS80 SM 64 10 806399 Page 45 of 49 Copyright Zaber Technologies Inc 1180 T LS80B I 2048 128 17 50 806399 T LS80B M T LS80B SI T LS80B SM 228 T HLA28 0 64 10 0 282879 T HLA28 S T HLA28 SV 302 T MM2 I 0 64 10 0 126207 T MM2 IV T MM2 M T MM2 MV 601 T NM17A200 0 64 10 0 8388863 T NM17A200 S 256 before 419181 T NM17C200 version T NM17C200 S 5 05 701 T LLS105 0 64 10 0 672255 T LLS105 S 336127 702 T LLS260 0 64 10 0 1664255 T LLS260 S 832127 4151 T LSR150A 2048 64 10 12 1526940 4301 T LSR300A 2048 64 10 12 30387063 4152 T LSR150B 2048 64 10 12 305624 4302 T LSR300B 2048 64 10 12 607740 901 T CD1000 3072 64 127 0 8388863 902 T CD2500 3072 64 127 0 8388863 3003 T JOY3 0 N A N A N A N A 20 2 Defaults Common to All T Series Actuator Devices Setting Default Resolution 37 64 Target Velocity 42 2922 Acceleration 43 111 Maximum Relative Move 46 Range 44 in table above Home Offset 0 Antibacklash Antisticktion Distance 10 x Resolution 10 x 64 640 microsteps Page 46 of 49 Copyright Zaber Technologies Inc 21 APPENDIX B PERIPHERAL ID AND SETTINGS Peripheral ID is the identifier given to actuators and motors that can be dr
21. ZAB n T Series Positioning Products User s Manual Firmware 5 00 and up Covers models T CD T HLA T LA T LS T LLS T MM T NM T LSR Last Update 2007 04 04 Visit www zaber com for more recent updates Zaber Technologies Inc 2891 Steveston Hwy Richmond BC V7E 2J1 Canada Copyright Zaber Technologies Inc 1 U N 10 ZABER T SERIES POSITIONING PRODUCTS ccssscssscssssscsscesssssssccssssssssscsssessssscsssessssces 4 1 1 T SERIES SPECIFICATIONS tee ete tare da an kn 5 1 2 DEVICE SPECIFICATIONS 2 dee adest tt ka ab aici pa eite deca doeet rede e 5 FIRMWARE VERSION INFORMA TTION eee esee ee eee eoe sese 7 rr a ka a i na i 7 INITIAL SETUP AND TEST ING eere eese neenon ess ess ess seta ene soto stesse esses stone ense ease ease tasa 7 INSTALLATION isis ss S 8 5 1 CONNECTION TO A COMPUTER in ie sd dese erai cascades EEEE EE RKE rE EAE RE E aE i a a iii 8 5 2 LINEAR ACTUATOR PRODUCTS T LA AND T HLA SERIES enn 9 53 VACUUM COMPATIBLE DEVICES iicr rien ie i eree E EEEE RRE EEE RKR E i a aii 9 CONTROL THROUGH THE RS 232 esee essen sete sensns toss toss toss tns sense tasa 10 COMMAND QUICK REFERENCE 4 ecce esee ee ee eese etta soto sesto setae seta
22. acceleration is set to 0 it is as if acceleration is set to 512 R Effectively acceleration is turned off and the unit will always get up to target speed immediately The acceleration may be changed on the fly even when the unit is in the middle of a move The unit will still target the final position specified in the original move 8 19 Set Range 44 Firmware Version Version 5 00 and up Command Number 44 Data Bytes The desired new range in micro steps Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset Use this command to limit the range of travel to a value other than the default Exercise caution since using this command it is possible to set the range to a value greater than the physical limits of the device 8 20 Set Current Position 45 Firmware Version Version 5 00 and up Command Number 45 Data Bytes Absolute position Reply Data Absolute position in this case the position that was just set Note Position data is volatile and will not persist after power down or reset The internal register that holds the position is set to the value given by the data bytes The phase of the stepper motor is controlled by the least significant byte of the position thus the device may move by 2 full steps unless the new position corresponds to the true current position of the devi
23. agram 1 Motor Al 2 Motor A2 3 Motor 4 Reserved for max limit signal input 5 Motor B2 6 45V 7 Home limit signal input 8 Gnd 11 2 T HLA Series Heavy Duty Linear Actuators Motor 96 steps revolution 609 6 um revolution 6 35 um step Mode 0 Microstep Resolution 64 Target Velocity 2922 Acceleration 111 wr Running Current 10 Hold Current 0 Device motion Default settings 11 3 T LA Series Linear Actuators Motor 48 steps revolution Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 z Microstep Resolution 64 Target Velocity 2922 9 Acceleration 111 Running Current 10 Hold Current 0 Page 35 of 49 Copyright Zaber Technologies Inc 11 4 T LLS Series Long Travel Linear Slides Motor 200 steps revolution Device motion 2 mm revolution Default settings Mode 0 Microstep Resolution 64 Target Velocity 2922 Acceleration 111 Running Current 10 Hold Current 0 11 5 T LS Linear Stages Motor 48 steps revolution Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 Microstep Resolution 64 Target Velocity 2922 Acceleration 111 Running Current 10 Hold Current 0 T LS linear stages contain a spring which applies a light load against the leadscrew Typically these stage
24. ce This command is useful if you want to turn off the system without losing position Simply save the position in the controlling computer before powering down After powering up set the position back to the saved value In this way you can continue without having to home the device Page 26 of 49 Copyright Zaber Technologies Inc 8 21 Set Maximum Relative Move 46 Firmware Version Version 5 00 and up Command Number 46 Data Bytes The desired maximum relative move in micro steps Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset Use this command to limit the maximum range of travel for a relative move command For example if maximum relative move is set to 1000 and the user requests a relative move 21 of 800 then the device will move 800 microsteps However if the user requests a relative move of 1200 then the device will reply with an error code Most applications can leave this unchanged from the default 8 22 Set Home Offset 47 Firmware Version Version 5 00 and up Command Number 4 Data Bytes The desired home offset distance in micro steps Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset When the home command is issued the unit will retract
25. cktion below this table bit 3 8 Disable Potentiometer A value of disables the potentiometer preventing manual adjustment of the device The default value is 0 on all devices bit 4 16 Enable Constant Speed Position Tracking A value of 1 enables position tracking during constant speed commands The unit will return its position periodically when a constant speed command is executed The Disable Auto Reply option above takes precedence over this option The default value is 0 on all devices bit_S 32 Disable Manual Position Tracking A value of disables automatic position replies during manual moves The Disable Auto Reply option above takes precedence over this option The default value is 0 on all devices 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 Page 22 of 49 Copyright Zaber Technologies Inc detection and recovery The default value is 0 on all devices bit 7 128 Home Status This bit is set to 0 automatically on power up or reset It is set automatically when the device is homed or when the position is set using comman
26. d 45 It can be used to detect if a unit has a valid position reference It can also be set or cleared by the user bit_8 256 Disable Auto Home A value of disables auto home checking Checking for trigger of home sensor is only done when home command is issued This allows rotational devices to move multiple revolutions without retriggering the home sensor bit 9 512 Reserved bit_10 1 024 Reserved bit 11 2 048 Enable Circular Phase Micro stepping Square phase micro stepping is employed by default A value of 1 enables circular phase micro stepping mode The differences are Circular Phase constant torque smoothest operation better microstep accuracy only 70 torque and lower power consumption Square Phase non constant torque less smooth operation poorer microstep accuracy 100 torque achieved and higher power consumption bit_12 4 096 Set Home Switch Logic Some devices have active high home limit switches A value of 1 must be set for these devices for the device to home properly On devices with built in motors and home sensors the factory default settings will be correct However some devices such as the T CD series can accept a variety of motors and home sensors On these devices this bit may need to be changed from the default setting in order for the home sensor to function correctly See the recommended settings for your particular device Damage to the home sensor or actuator may result if thi
27. ding to a single micro step of travel depends on the device The following section gives this and other information specific to each T Series product 11 1 T CD Series Chopper Drive Stepper Controllers T CD1000 and T CD2500 default settings Setting Description Command Default Value Resolution 37 64 Running Current 38 127 Hold Current 39 0 Device Mode 40 3584 Target Velocity 42 2922 Acceleration 43 111 Range 44 8388863 Maximum Relative Move 46 8388863 Home Offset 47 0 The T CD series stepper motor controllers are intended to drive a wide variety of motors It is not possible to choose factory default settings that will work with every motor that may be connected Therefore you will need to change some of the settings from the default values to match the motor you are driving The information in Appendix B provides device resolution and suggested changes to the T CD default settings for each device compatible with it See the detailed command reference section for information on how to modify the settings The wiring diagram below shows the motor connector pinouts as seen looking into the connector on the T CD1000 or T CD2500 housing This information will be needed if you wish to drive your own motor Note that Pin 4 is reserved for a maximum limit sensor which has not yet been implemented Page 34 of 49 Copyright Zaber Technologies Inc T CDxxxx Minidin 8 Motor Connector Pin Di
28. e in the range from 62000 micro steps the home or fully retracted position to 62000 micro steps the maximum extended position A linear position of zero micro steps corresponds to an angular position of zero urad In this position the plane of the moveable plate on which the optics are mounted should be approximately parallel to the front face of the mirror mount housing The distance from the actuator contact points to the pivot point is 66 66 mm dp Using the approximation dD T where dp is linear displacement of the actuator and is angular displacement of the mounting plate yields an angular resolution of 15 micro radians per um of linear travel This approximation is good for positions near zero but introduces an error up to 300 urad at the minimum and maximum travel If better accuracy is desired over the full range of motion then the equation 66 660 um and is desired angular position in mrad 0 09921875 T should be used where p is the actuator position in micro steps lis 2 Position Table Dimensional Cross Reference for firmware version 5 05 and up Microstep Position Microns mrad using 15 urad um mrad using tangent approximation equation 62 000 min home 6 151 56 92 273 92 022 0 0 0 0 62 000 max 6 151 56 92 273 92 022 T MM2 Position Table Dimensional Cross Reference before firmware version 5 05 Microstep Pos
29. ead write 0 to 127 Byte 4 specifies the value to be written 8 12 Restore Lock Unlock Settings 36 Firmware Version Version 5 00 and up Command Number 36 Data Bytes 0 or Peripheral ID or password to lock 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 All T series devices except T CD series motor controller On devices with built in motors 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 See Appendix A for a list of Device IDs and corresponding default settings T CD series motor controller On devices such as the T CD motor controller that can be used with multiple motors or actuators this command can be issued with Data equal to the Peripheral ID of the specific motor or actuator connected in order to return the device to the factory default settings for the motor or actuator in question For example if a T CD2500 is connected to LMRS8 the user can issue command 36 with data of 1258 This will automatically set all non volatile parameters range mode running and hold currents to
30. een petet mee tetro eee Pride e Re ree ete dee dieti d 25 8 18 SET ACCELERATION 13 titre e Hr E ri i dps e ee ree eed degit 25 8 19 SET RANGE 4 pae eie eed pee ti rive ees desee e n bin he deve detente 26 8 20 SET CURRENT POSITION 49 edem eee mee te tne ire tree hd dee e Re reete dee dena er 26 8 21 SET MAXIMUM RELATIVE MOVE 46 27 8 22 SET HOME OFFSET 47 eerte t teet Pie e n Ii eee idee te recen De dev diete ed 27 8 23 SET ALIAS 48 entere eto tete ee Hee vi etx d ree iie e ee Prem e de eee d 27 8 24 RETURN DEVICETD 850 esito d eset S nns 28 8 25 RETURN FIRMWARE VERSION 51 28 8 26 RETURN POWER SUPPLY VOLTAGE 52 28 8 27 RETURN SETTING 123 cto meet ei ale piens 29 8 28 RETURN STATUS 8 54 5 aan apa noD Genome nne ens 29 8 29 BCHO JD ATA 3425 y uten pitt nno mite ot ral te pe 29 8 30 RETURN CURRENT POSITION 60 30 REPLY ONLY REFEREN G Eviiscssescisconosesscssoncscesssenssesensegatsosnssecascstossenssasensssbacedensesseassencgisanesessosses 31 9 1 REPLY 8 POSITION TRACKING DURING INSTRUCTED 31 9 2 REPLY 40 ACTUATOR STOPPED a hone ERE en Ie e Eu eue 31 9 3 REPLY 10 POSITION TRACKING DURING MANUAL MOVE
31. entered is not a valid setting command number Valid setting command numbers are the command numbers of any Set instructions 64 Command number not valid in this firmware version 255 Another command is executing right now and cannot be pre empted by the new command Please wait till the old command is finished executing or stop the old command before trying again 2146 Move Relative command 20 exceeded maximum relative move range Either move shorter distance or change maximum relative move command 46 3600 Settings locked out Must unlock with command 36 first See command 36 for details 4008 Mode Bit invalid Disable Auto Home This is a linear actuator Disable Auto Home is used for rotary actuators only 4009 Mode Bit 9 invalid Reserved bit 9 is non zero 4012 Mode Bit invalid Home Active High This unit has integrated home sensor with preset polarity mode bit 12 cannot be changed by the user 4013 Mode Bit invalid Reserved bit 13 is non zero Page 33 of 49 Copyright Zaber Technologies Inc 11 DEVICE SPECIFIC INFORMATION Zaber T Series positioning devices are driven by stepper motors using a micro stepping controller with up to 128 micro steps per step All position data sent to or received from Zaber T Series devices must be in units of micro steps your software must convert position data entered by the user to micro steps before sending it to your device The linear or angular displacement correspon
32. er Page 9 of 49 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 You can use this feature to try to determine which COM port you are connected to We recommend using the sample Visual Basic program included with Zaber products It also contains source code that you can use as an example for writing your own code to control your specific system Important After power up the units in the chain will each initialize themselves as unit 1 and thus they will each execute the same instructions To assign each unit a unique identifier you must issue a renumber instruction after all the units in the chain are powered up and every time you add or remove a unit from the chain You must not transmit any instructions while the chain is renumbering or the renumbering routine may be corrupted Renumbering takes less than a second after which you may start issuing instructions over the RS232 connection All instructions consist of a group of 6 bytes They must be 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 pu
33. er Technologies Inc Reply Only Commands for Firmware Version 5 xx Reply Data Bytes Reply Data Page Constant speed position tracking N A Reply only Current absolute position 31 Actuator stopped 9 N A Reply only Current absolute position 31 Manual move position tracking 10 N A Reply only Current absolute position 31 Command data out of range 255 N A Reply only Current absolute position 32 Page 13 of 49 Copyright Zaber Technologies Inc 8 DETAILED COMMAND REFERENCE Note that these commands apply only to 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 The position stored in the device prior to this command will be lost so you must save it and reload it if it is important All non volatile settings i e Unit Number Target Velocity etc are saved and are not affected by reset or power down 8 2 Home 1 Firmware Version Version 5 00 and up Command Number 1
34. ered Turn the knob slowly until you feel the center detent The amber light should turn off 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 too low If you experience this problem with a single device on a single unregulated 12V supply rated at over 300 mA then the problem is probably that the supply voltage is too high Turning the potentiometer causes no motion You may be at the end of travel This can happen due to missed steps even if the device does not appear to be fully extended Turn the knob the other way If the unit makes noise but does not move you may be in a stall condition especially if the device appears to be fully extended See Stall Condition below The amber light should blink when turning the knob if not try turning the power off and then on again You may also have set the Target Velocity command 42 so low that it doesn t produce any visible motion Try using command 36 to reset the device to default settings and try again Communications do not seem to work the amber light does not c
35. esponding to the desired speed based on the formula Speed microsteps second 9 375 Data Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset When a move absolute or move relative instruction is issued the device will accelerate at a rate determined by the acceleration setting up to a maximum speed determined by this command Set Target Velocity To determine the speed that will result from a given data value the following formulas may be used Speed 9 375x Data microsteps sec or 9 375 x Data Sj steps sec or R 562 5 x Data revolutions min RxS Where Data is the absolute value of the Constant Speed Move instruction data R micro steps step is the micro step resolution command 37 S steps revolution is the number of steps per revolution of the motor For example if S 48 R 64 and the Constant Speed Move instruction is issued with Data of 2922 then the device will move forward at a speed of approximately 535 revolutions per minute For linear devices consult the section on Device Specific Information to determine the linear distance corresponding to a single step or revolution The maximum Data allowable is 512 R Note that although the maximum data allowable depends on the resolution the maximum speed possible is independent of the resolution This can be seen by substituting Data 512 R into
36. g Echo of Command Data 20 39 Set Hold Current Hold Current Setting Echo of Command Data 21 40 Set Device Mode Mode Configuration see Echo of Command Data 21 below 42 Set Target Velocity Maximum Velocity Echo of Command Data 25 43 Set Acceleration Maximum Acceleration Echo of Command Data 25 44 Set Maximum Travel Range Range in Microsteps Echo of Command Data 26 45 Set Current Position New Current Position Echo of Command Data 26 46 Set Maximum Relative Move Maximum Relative Move Echo of Command Data 27 47 Set Home Offset Home Offset in Microsteps Echo of Command Data 27 48 Set Alias Alias Unit Number Echo of Command Data 27 Page 11 of 49 Copyright Zaber Technologies Inc 50 Return Device ID Ignored Device ID 28 51 Return Firmware Version Ignored Firmware Version 28 52 Return Power Supply voltage Ignored Power Supply Voltage 28 53 Return Setting Setting Command Number Setting Value 29 54 Return Status Ignored Move Status 29 55 Echo Data User defined Echo of Command Data 29 60 Return Current Position Ignored Absolute Position 30 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 Command 40 Set Mode Options for Firmware Version 5 xx Da
37. ir rated current only during moves for highest torque and reduce the current when idle just to hold the position Typically the hold current can be set to around 25 50 of the running current If the running current is set to 24 the hold current may be set to 48 to provide 50 hold In some applications the friction of the drive system alone is sufficient to hold the microstep position of the motor and the hold current can be turned off completely The hold current can be turned off by issuing the Set Hold Current command with data of 0 When the unit is moving it applies running current to the motor When the unit stops moving running current is applied for an additional 0 1 second before hold current takes over 8 16 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 binar
38. ition Microns mrad using 15 urad um mrad using tangent approximation equation 65 536 min home 6 502 4 97 536 97 238 0 0 0 0 60 671 6 019 7 90 296 90 060 Page 39 of 49 Copyright Zaber Technologies Inc 12 MANUAL CONTROL AND LED INDICATORS Turning the potentiometer knob on units so equipped will make the device move It is not necessary to have a computer connected to use the device in manual mode However without a computer connected you have no means to initialize the device with a starting position Therefore you must retract it completely after each power up in order to home the device You will not be able to extend it fully until you have first retracted it completely to set the home position Clockwise rotation of the knob produces positive motion extension and counter clockwise rotation produces negative motion retraction The speed of retraction or extension will be directly related to the amount to which the knob is turned from its center detent position turning the knob to its center position will stop the unit from moving During manual moves the unit constantly returns its position so a computer can track the position even when you are controlling the unit manually Manual control can be disabled with a mode setting The speed of the potentiometer controlled manual moves is also determined by the Set Target Velocity command 42 When the knob is fully turned to either limit the unit
39. iven by T CD1000 or T CD2500 chopper drivers The T CD series of actuators has built in knowledge of the following stepper motor actuators Command 36 can be used with peripheral ID number to load the default settings listed in the tables below Alternately the settings may be modified individually using appropriate instructions 21 1 LMR Series Peripheral ID Product Name Mode 40 Range 44 T CD1000 T CD2500 initial Run Hold Run Hold position Current Current 1240 LMG40 7168 170000 20 40 50 100 1260 LMG60 7168 102400 20 40 50 100 1215 15 7168 192000 20 40 50 100 1225 LML25 7168 640000 20 40 50 100 1250 LML50 7168 1280000 20 40 50 100 1239 LMR39 7168 1536000 20 40 50 100 7424 before 768000 version 5 05 1258 LMR58 7168 1843200 20 40 50 100 7424 before 921600 version 5 05 1282 LMR82 7168 1843200 20 40 50 100 7424 before 921600 version 5 05 Page 47 of 49 Copyright Zaber Technologies Inc 21 2 NA Series Peripheral ID Product Name Mode 40 Range 44 T CD1000 T CD2500 Run Hold Run Hold Current Current 30816 NAO08A16 3072 340000 40 127 100 127 30830 NA08A30 3072 630000 40 127 100 127 30916 NAO8B 16 3072 170000 40 127 100 127 30930 NAO08B30 3072 315000 40 127 100 127 31116 11 16 3072 165000 20 100 50 127 31130 NA11B30 3072 31
40. lsed 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 Unit number is the closest unit to the computer and unit number 2 is next and so forth If the number 0 is used all the units in the chain will execute the accompanying command simultaneously The second byte is the command number Bytes 3 4 5 and 6 are data in long integer 2 s complement format with the least significant byte transmitted first How the data bytes are interpreted depends on the command Complete details are given in the command reference on the following page Examples Renumber all units 0x00 0x02 0x00 0x00 0x00 0x00 Home all units 0x00 0x01 0x00 0x00 0x00 0x00 Move unit 1 to an absolute position command 20 of 257 micro steps 0x01 0x14 0x01 0x01 0x00 0x00 Move unit 2 to a relative position command 21 of 1 micro step 0x02 0x15 OxFF OxFF OxFF If you are using Zaber s demo software you will only see 3 entry fields Unit Command and Data The Unit and Command fields accept 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 4 separate bytes and then gets sent to the unit Most instructions cause the unit to reply with a return code It is also a group of 6 bytes The first byte is
41. ly with the setting number in Byte2 as if a command to change the setting had just been issued however the setting will not be changed For example command 43 is the Set Acceleration instruction Therefore if you wish to return the current value of the acceleration setting of unit 1 simply send unit 1 command 53 and data of 43 Unit 1 will reply with command 43 and data equal to the setting value 8 28 Return Status 54 Firmware Version Version 5 00 and up Command Number 54 Data Bytes Ignored Reply Data Status Code See below for details This causes the unit to return a status code indicating the instruction it is currently executing if any The status codes are as follows 0 Idling not currently executing a command 1 executing a home instruction 10 executing manual move i e the manual control knob is turned 20 executing move absolute instruction 21 executing move relative instruction 22 executing move at constant speed instruction 23 executing a stop command i e decelerating 8 29 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 Page 29 of 49 Copyright Zaber Technologies Inc 8 30 Return Current Position 60 Firmware
42. mit home or away For example if the unit following the move at constant velocity command and it reaches 0 position then it will reply with this command number and 0 in the data bytes 9 3 Reply 10 Position tracking during manual move Firmware Version Version 5 00 and up Reply Number 10 Reply Data Current absolute position in microsteps The unit has been moved manually the knob is turned If enabled with the Set Mode instruction the unit sends this reply at regular intervals updating the current position during manual moves Page 31 of 49 Copyright Zaber Technologies Inc 9 4 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 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 p
43. ole number The only exception to this is if acceleration would become 0 because 0 for acceleration indicates infinite acceleration If acceleration would become 0 it will instead be set to which is the lowest acceleration possible 8 14 Set Running Current 38 Firmware Version Version 5 00 and up Command Number 38 Data Bytes Value for the running current Range 0 10 127 Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset DriveCapacity x 10 The current is related to the data by the formula DriveOutput D ata Data least significant byte only used can be either 0 no current or 10 maximum current through 127 minimum current Note that values of 1 through 9 are not accepted DriveCapacity is the hardware s maximum rated output ex 2500mA on our T CD2500 DriveOutput is the current that the drive will actually output to each phase of the motor For example suppose you connect a stepper motor rated for 420mA per phase to a T CD2500 Reversing the equation above and using 420mA as DriveOutput gives Data 10 DriveCapacity DriveOutput 10 2500mA 420mA 59 5 round to 60 Therefore 60 should be the minimum data used with command 38 running current limit for continuous operation of a 420mA rated motor with a T CD2500 controller If your application does not require high torq
44. ome on or flash Make sure that you are on the correct com port Check the baud rate hand shaking parity stop bit etc Check the cable and adapter for bent or broken pins Make sure you do not have a null modem adapter or cable in the line The serial to mini din adapter comes in many varieties and many have different pin connections Check the adapter for 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 move and does not return codes Check baud rate hand shaking parity stop bit etc Make sure that your software does not transmit any control characters like line feed spaces or something else The 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 Page 41 of 49 Copyright Zaber Technologies Inc 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 enco
45. or 200 steps revolution Device motion 1 8 step Default settings Mode 0 Microstep Resolution 64 Target Velocity 2922 Acceleration 111 Running Current 10 Hold Current 0 Most Zaber positioning products have built in home sensors However on the NM and T NM series of devices the home sensor is optional Depending on the user s application the home sensor may or may not be required Therefore the home sensor on these devices is removable note this may not be the case on some older models The purpose of the home sensor is to set a reference or zero position to sync the controller position to the actual device position On power up the default reference position assumed by the controller is typically the maximum range setting In certain applications for example continuous rotation at controlled velocities position synchronization isn t required and the home sensor may not need to be installed If you choose not to install the home sensor then DO NOT ISSUE A HOME INSTRUCTION command 1 If you do the motor will reverse indefinitely waiting for the non existent home senor to be triggered Instead you can set the initial position using the Set Current Position instruction command 45 The home sensor consists of a hall switch connected to a cable which plugs into the motion control device A small magnet included activates the home sensor when it approaches within about 0 5mm of the face of the hall s
46. ossible error codes Error Code Description 14 Power supply voltage too low 15 Power supply voltage too high 20 Move Absolute Target position out of range 21 Move Relative Target position out of range 22 Constant velocity move Velocity out of range 36 ActuatorID is invalid Please use one of the actuator IDs 0 for default It can also mean that the password entered to lock or unlock settings in invalid 37 Invalid resolution Resolution may only be 1 2 4 8 16 32 64 128 38 Run current out of range Run current may be 0 or 10 127 39 Hold current out of range Hold current may be 0 or 10 127 40 One or more of the Mode Bits is invalid 42 Target velocity out of range The range of target velocity is determined by the resolution 43 Target acceleration out of range The range of target acceleration is determined by the resolution 44 The maximum range may only be set between 0 and the resolution limit of the stepper controller which is 16 777 215 45 Current position out of range Current position must be between 0 and the maximum range 46 Max relative move out of range Must be between 0 and 16 777 215 47 Home offset out of range Home offset must be between 0 and maximum range 48 Alias out of range Alias must be between 1 and 254 Page 32 of 49 Copyright Zaber Technologies Inc 53 Data
47. ot fully extended then it requires servicing Poor repeatability or the unit does not extend or retract smoothly or makes louder than normal noise during travel You may be skipping steps When skipping the unit will loose position in increments of 4 steps This condition happens if the thrust needed is more than the thrust available from the device Check that the force on the device is less then the maximum thrust Check the voltage using the voltage command Voltage less then 12 V will reduce the unit s maximum thrust Try a slower target velocity command 42 as stepper motors produce more thrust when moving slowly Lead screw conditions greatly affect the performance of the unit Dirt damaged threads no grease or too heavy grease will degrade performance and may contribute to a stall A black residue appears on the lead screw after extended use This can increase friction and reduce trust Clean the screw and re grease it In general if you try to move a large payload or have a large static axial load like lifting something vertically you will have more problems For vertical motion the use of a counterweight spring or rubber band can help reduce the static load and improve the performance of the device The default value of the acceleration and target velocity are good for small to medium loads and medium speeds For very light loads and higher speeds or heavy loads at lower speeds these parameters can be tuned Trial and error
48. ove to Reply Data Absolute position after move is finished Note Command may pre empt or be pre empted by commands 18 20 21 22 and 23 The device moves to the position stored in the position register 0 to 15 specified by the data This command is used in conjunction with the Store Current Position 16 and Return Stored Position 17 commands All move commands are pre emptive If a new move command is issued before the previous move command is finished the device will immediately move to the new position The target speed and acceleration during a move can be specified using commands 42 and 43 respectively Page 15 of 49 Copyright Zaber Technologies Inc 8 7 Move Absolute 20 Firmware Version Version 5 00 and up Command Number 20 Data Bytes Absolute position in micro steps Reply Data Absolute position after move is finished Note Command may pre empt or be pre empted by commands 18 20 21 22 and 23 The device moves to the position given by the data bytes The position must be within the acceptable range for the device or an error code will be returned All move commands are pre emptive If a new move command is issued before the previous move command is finished the device will immediately move to the new position The target speed and acceleration during a move absolute instruction can be specified using commands 42 and 43 respectively 8 8 Move Relative 21
49. p Command Number 50 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 25 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 26 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 example reply data of 127 indicates 12 7 V Note that the voltage is only an approximation Page 28 of 49 Copyright Zaber Technologies Inc 8 27 Return Setting 53 Firmware Version Version 5 00 and up Command Number 53 Data Bytes Setting command number command number of the desired Set instruction Reply Data Setting command 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 the data Valid setting numbers are the command numbers of any Set instruction The unit will rep
50. peed to move rather than a target position When this instruction is issued the device will accelerate at a rate determined by command 43 Set Acceleration to the speed specified by the instruction data The device will continue moving at this speed until a limit is reached or a pre empting instruction is issued Negative speeds cause retraction while positive speeds cause extension To determine the speed that will result from a given data value the following formulas may be used Speed 9 375x Data microsteps sec or 9 375 x Data steps sec or R 562 5 x Data EL revolutions min RxS Where Data is the absolute value of the Constant Speed Move instruction data R micro steps step is the micro step resolution command 37 S steps revolution is the number of steps per revolution of the motor For example if S 48 R 64 and the Constant Speed Move instruction is issued with Data of 2922 then the device will move forward at a speed of approximately 535 revolutions per minute For linear devices consult the section on Device Specific Information to determine the linear distance corresponding to a single step or revolution The maximum Data allowable is 512 R Note that although the maximum data allowable depends on the resolution the maximum speed possible is independent of the resolution This can be seen by substituting Data 512 R into the second formula above giving a maximum speed regardless of resolution of 480
51. r since bit_3 in the 2 instruction is 0 Most devices have a default mode setting of 0 all bits are 0 however there are some exceptions See APPENDIX A DEVICE ID AND SETTINGS for a table of default settings for all devices Bit 2 Description bit 0 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 bit 1 2 Enable Anti backlash Routine A value of 1 enables anti backlash On negative moves retracting the device will overshoot the desired position by 640 microsteps assuming 64 microsteps step reverse direction and approach the requested position from below On positive moves extending the device behaves normally Care must be taken not to crash the moving payload into a fixed object due to the 640 microsteps overshoot on negative moves The default value is 0 on all devices See note on anti backlash and anti sticktion below bit_2 4 Enable Anti sticktion Routine A value of 1 enables the anti sticktion routine On moves less than 640 microsteps assuming 64 microsteps step the device will first retract to a position 640 microsteps less than the requested position and approach the requested position from below Care must be taken not to crash the moving payload into a fixed object due to the 640 microsteps negative move The default value is 0 on all devices See section on anti backlash and anti sti
52. rly email newsletter with product updates and promotions please sign up at http www zaber com news section Page 4 of 49 Copyright Zaber Technologies Inc 1 1 T Series Specifications Power Supply 12V nominal 12V to 16V acceptable DC unregulated supply on 2 1 mm center positive power connector Note that voltage will affect available thrust Communications RS232 9600 baud no parity one stop bit on 6 pin mini din cable PS 2 male towards the computer female towards the next unit 1 2 Device Specifications Part Range Resolution Repeatability Accuracy Backlash T LA13A 13mm 0 1 um lt 0 4 um lt 12um lt 4um T LS13 T LA28A 28 mm 0 1 um lt 0 4 um lt 12um lt 4um T HLA28 T LS28 T LA60A 60 mm 0 1 um 0 4 um lt 16 um lt 4um T LS80 80 mm 0 1 um lt 0 4 um lt 16 um lt 4 um T LLS105 105 mm 0 16 um lt 0 5 um lt 16 um lt 16 um T LLS260 260 mm 0 16 um lt 0 5 um lt 20 um lt 16 um T LSR150A 150mm 0 049609 um 2 5 um lt 30 um lt 5 um T LSR300A 300mm lt 50 um T LSR150B 150mm 0 24805 um 2 5 um lt 30 um lt 5 um T LSR300B 300mm lt 50 um T MM2 5 272 to 1 5 urad lt 7 urad lt 180 urad lt 15 urad 5 272 T NM N A 0 028 lt 0 1 lt 1 0 N A Page 5 of 49 Copyright Zaber Technologies Inc Part Stall Load Speed Current Mounting Interface Man
53. s are used in a horizontal orientation and the only force experienced by the leadscrew is the spring force which serves to keep the load on the leadscrew always in the same direction thus reducing backlash If used in a vertical orientation the spring is not needed to reduce backlash since the load the weight of the stage and whatever may be mounted to it is always in the same direction by default In fact if the load is greater than the minimum spring force and less than the maximum spring force the existence of the spring will actually introduce backlash since there will be a point in the stage travel where the load on the leadscrew changes direction Therefore when using T LS stages in a vertical orientation we recommend removing the spring from the stage This can be done relatively easily using a small hook fashioned from a paperclip to slip the spring off its mounting posts and slide it out of the stage It may help to fully extend the stage prior to spring removal Page 36 of 49 Copyright Zaber Technologies Inc 11 6 T LSR Motorized Linear Stage with built in Controllers Motor 200 steps revolution Device motion 1 8 step Default settings Mode 2048 Xi Microstep Resolution 64 Target Velocity 2922 Acceleration 111 Running Current 10 Hold Current 12 Page 37 of 49 Copyright Zaber Technologies Inc 11 7 T NM NEMA Stepper Motors with built in Controllers Mot
54. s bit is set improperly 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 Anti backlash and Anti sticktion routines are designed to compensate for backlash and sticktion The solution to backlash is to always approach a position from the same direction The solution to sticktion is to move the unit far enough away from the final position to break free of sticktion before attempting the final move The operation of the two features are dependent on each other and the interaction of enabling one or both of the features is described in the diagram below Page 23 of 49 Copyright Zaber Technologies Inc ar Anti Backlash ON Anti Backlash OFF Anti Sticktion ON Anti Sticktion OFF In each setting scenario described above the starting position is denoted by the solid vertical line and the final position is denoted by the dotted vertical line There are four possible moves for each scenario long move positive long move negative short move positive and short move negative The arrows show the path that would be traversed for each scenario Page 24 of 49 Copyright Zaber Technologies Inc 8 17 Set Target Velocity 42 Firmware Version Version 5 00 and up Command Number 42 Data Bytes Data corr
55. s constantly on while the device is moving When the potentiometer is turned the amber LED will blink at a rate that is proportional to how far the potentiometer is turned The further the knob is turned away from center detent the faster the amber LED will blink If the unit reaches either the home or the away limit while under manual move the amber LED will blink slower 2Hz to indicate that the unit cannot move any further Page 40 of 49 Copyright Zaber Technologies Inc 13 TROUBLESHOOTING Symptom Check The unit is not communication or responding to computer control The yellow LED may be blinking If the actuator has a manual control knob make sure the knob is centered Turn it back and forth until you feel a click or detent Leave the knob at the center detent position Then turn unit off and on and try again The unit is moving very slowly It used to behave differently Make sure that the unit s settings have been restored to factory default The speed settings may have been changed inadvertently The easiest way is to use command 36 to restore all settings to factory default Green LED does not come on Check the A C wall plug the 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 Unit starts turning as soon as the power is on or amber LED blinks all the time The potentiometer is probably not cent
56. ta Bits Option Name Effect 0 1s Disable Auto reply Disable ALL replies except to command 50 and higher 1 25 Enable Anti backlash Enable the anti backlash mode 2 4s Enable Anti sticktion Enable the anti sticktion mode 3 8s Disable Potentiometer Disable the potentiometer 4 16s Enable Position Tracking Enable position replies during constant speed commands 5 32s Disable Manual Position Tracking Disable automatic position replies during manual moves 6 64s Enable Logical Channels Enable the Logical Channels Communication Communication Mode Mode see manual for more details 7 128s Home Status Read only Cleared on power up Gets set automatically when device homes or position is set with command 45 8 256s Disable Auto Home Feature Disables monitoring of the home limit sensor during moves except for a home instruction Useful for allowing multiple revolutions on rotational devices 9 512s Reserved This bit is not used at this time 10 1 024s Reserved This bit is not used at this time 11 2 048s Enable Circular Phase Microstepping Selects circular or square phase micro stepping 12 4 0965 Home Active High Enable active high detection of home switch 13 8 192s Reserved This bit is not used at this time 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 Page 12 of 49 Copyright Zab
57. tact 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 1 604 648 8033 Mail 289 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 44 of 49 Copyright Zaber Technologies Inc 20 APPENDIX A DEVICE ID AND SETTINGS The following table shows the default non volatile settings for all T series devices 20 1 Device specific defaults Device ID Product Name 5 T LA13A SV Mode 40 Microstep Resolution 37 64 Running Current 38 10 Hold Current 39 Range 44 initial position 131072 1013 T LA13B T LA13B S T LA13B SV 2048 128 17 50 131072 28 T LA28A T LA28A S T LA28A SV 64 10 282624 1028 T LA28B T LA28B S T LA28B SV 2048 128 17 50 282624 60 T LA60A T LA60A S T LA60A SV 64 10 606208 1060 T LA60B T LA60B S T LA60B SV 2048 128 17 50 606208 113 T LS13 I T LS13 M T LS13 SI T LS13 SM 64 10 131327 1113 T LS13B I T LS13B M T LS13B SI T LS13B SM 2048 128 17 50 131327 128 1128 T LS28 I T LS28 M T LS28 SI T LS28 SM T LS28B I T LS28B M T L
58. tp www zaber com Follow the instructions in the readme file to install and run the program As a simple first test try entering these instructions Unit Cmd Data Description 0 2 0 Renumber 1 1 0 Home Additional Devices Additional units can simply be daisy chained to the first For long chains a power supply should be connected at every 2 or 34 unit A renumber command needs to be issued after a new unit is connected before it can be controlled independently from the demo program Page 8 of 49 Copyright Zaber Technologies Inc 5 2 Linear Actuator Products T LA and T HLA Series When mounting linear actuators care must be taken not to over constrain the leadscrew At the point of contact of the leadscrew with the object to be moved there are 6 degrees of freedom which can be constrained translation along xyz axes and rotation about those axes The load should constrain only the axial translation of the leadscrew The simplest way to achieve this is to have the lead screw press against a flat surface perpendicular to the axis of the leadscrew Any further constraint such as rigidly fixing the leadscrew to the load may result in an over constrained system that will reduce thrust or cause the leadscrew to bind 5 3 Vacuum Compatible Devices Zaber s vacuum compatible devices devices with the suffix V in the part number are identical in appearance and function to their non vacuum compatible
59. ual Draw Control T LS13 60N 4 mm s 320 mA 1 4 20 or M6 holes Yes T LS28 T LS80 403 4 mm s 320 mA 3 8 32 threaded Yes T LA28A shank T LA60A T HLA28 60N 4 mm s 500 mA 3 8 32 threaded Yes shank T LLS105 93N 6 mm s 800 mA 5 40 holes Yes T LLS260 15 150 200N 4 mm s 800 mA M6 and 8 32 holes on Yes T LSR300A top of stage T LSR150B 200N 20 mm s 800 mA M6 and 8 32 holes on Yes T LSR300B top of stage T MM2 40N 60 mrad s 600 mA 1 4 20 M6 adaptor Yes available T NM 2100 g cm 180 rpm 800 mA M3 hole 5mm shaft Yes T XXXX S All part numbers are available with the S suffix These parts are No identical to the standard part except that they have no manual control Thrust is a function of speed These values cannot both be achieved simultaneously i e at maximum speed the unit will stall at a load of about 1 3 the indicated stall load Page 6 of 49 Copyright Zaber Technologies Inc 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 293 indicates firmware version 2 93 This user s manual applies only to devices with firmware version 5 00 and up Newer firmware versions may be available Due to the addition of new features newer versions of firmware may not be 100 compatible with older versions For more information on
60. ue it is best to decrease the DriveOutput to reduce power consumption vibration and motor heating Trial and error should suggest an appropriate setting If higher torque is required it is generally safe to overdrive motors as long as they are not operated continuously Motor temperature is typically the best indication of the degree to which overdriving can be employed If the motor gets too hot to touch gt 75 C you should reduce the drive current Note that the running current limit and hold current limit apply to all products not just current limiting devices such as the T CD series On voltage controlled products the DriveCapacity is simply the power supply voltage and the DriveOutput is the effective voltage being applied to the motor For example if a product uses a 5V motor and has a 15V supply the running current may be set as follows Data 10 DriveCapacity DriveOutput 10 15V 5V 30 Page 20 of 49 Copyright Zaber Technologies Inc 8 15 Set Hold Current 39 Firmware Version Version 5 00 and up Command Number 39 Data Bytes Value for the hold current Range 0 10 127 Reply Data Reply data is simply an echo of the command data Note This setting is stored in non volatile memory and will persist after power down or reset The formula for the hold current works the same way as for running current see command 38 for details It is typical to run stepper motors at the
61. unter the problem when trying to control the device with your own software try using a demo program from our website to verify that the hardware is functioning properly Make sure that the receiving part of 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 Stall condition The unit makes noise but does not move Try removing all external loads If the unit now extends and retracts normally the problem is excessive load Try to reduce the load or change step time and acceleration parameters to ensure the load is less than the maximum thrust If the unit is stalled in its fully extended position and remains stalled without any external load applied it means the lead screw has been over extended and is stuck You can usually get the lead screw unstuck by pushing on it after issuing the home command If the unit is stalled with no external load in a position that is n
62. values that will work with the LMR58 Page 18 of 49 Copyright Zaber Technologies Inc See Appendix B for a list of Peripheral IDs and corresponding default settings If command 36 is issued with data of 0 on a T CD motor controllers the controller will reset to its lowest running current possible This is the safest setting that prevents damage to any motor connected to the T CD but it also means that the default setting of T CD may not work with the peripheral actuator that you intend to run We recommend first using command 36 with the Peripheral ID listed in Appendix B to get the device working Then adjust individual parameters as needed to improve performance in your application Locking Settings Sometimes it is desirable to lock all non volatile settings and prevent them from being changed inadvertently After changing all settings as desired settings can be locked by calling command 36 with data of 2768033 the password to lock the settings Subsequent attempts to change any non volatile setting i e changing the speed command 42 will result in an error code of 3600 settings locked This lock applies to normal applications of command 36 as well Unlocking Settings To unlock non volatile settings issue the command 36 with data of 3308672 After receiving the unlock command the unit should allow changing of any parameters including restore to factory default 8 13 Set Micro Step Resolution 37
63. vents A small amount of silicon based grease should be applied to reduce friction backlash and sticktion For vacuum applications we recommend NyeTorr 5300 silicon based vacuum grease available from www nyelubricants com 4 INITIAL SETUP AND TESTING If you are unfamiliar with T series devices you may wish to perform a few simple steps to familiarize yourself with their operation First you will need a power supply If you ordered one with your device you shouldn t have any problems If not you will require a power supply with output voltage between 12 and 16V The power input accepts a standard 2 1mm center positive connector Most 12V AC to DC adapters output around 16V under light current draw dropping to 12V at their rated current Some may output higher voltages and will not be suitable The chosen power supply must also be rated to handle the maximum total current draw of the devices connected to it For example if you have two T LA units chained together with a single power supply you will need at least 640 mA 320 mA per actuator x 2 When powering long chains of devices we recommend connecting a power supply to at least every 2nd device in the chain to reduce the current through the data cables When connecting several units in a daisy chain first connect the units to one another Then only apply power when all of the units are connected properly Once you have a working power supply you can test the operation of your device
64. will move at the maximum velocity set by command 42 Any intermediate position of the knob will move the unit at a velocity proportional to how far the knob has been turned If the velocity is set to be very small it may appear that turning the knob produces no movement The way to verify that the actuator is moving is to connect it to a computer and monitor the replies back to the computer During operation if the plunger is extended or retracted against a force greater than its thrust capability the unit will stall and there will be missed steps This can result in an apparent malfunction in that the device believes its position to be other than it actually is and will not extend or retract the plunger past a given position Without connecting a computer to home the device or set its position the only solution is to retract the plunger until it activates the internal home switch which will automatically zero the device at the home position A problem arises if the device incorrectly believes its position to be zero since it will not retract to the home position In this case you must disconnect and reconnect the power before manually homing the device The green LED is on whenever there is power to the device A constant blinking 2Hz of the green LED indicates that the power supply is out of range The green LED may be disabled by a mode bit see command 40 The amber LED flashes when there is traffic packet on the RS232 line It also stay
65. witch If you choose to install the home sensor you must mount the hall switch and magnet in the orientation shown Experiment to determine the correct way around for the magnet as it will only work in one orientation Simply issue the home command and move the magnet in front of the hall switch as shown in the image below if the motor does not stop turn the magnet around and try again Typically the easiest way to install the hall switch and magnet is to glue them in place as shown in the image below Be sure that the hall switch is mounted to a fixed part and the magnet to a moving part and that negative motion of the motor ex a negative relative move negative constant speed move or counterclockwise turn of the manual control knob brings the magnet closer to the hall sensor Hall Switch Page 38 of 49 Copyright Zaber Technologies Inc 11 8 T MM 2 Axis Motorized Mirror Mounts Motor 48 steps revolution Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 Microstep Resolution 64 Target Velocity 2922 Acceleration 111 Running Current 10 Hold Current 0 Zaber positioning products generally accept only positive position data ranging from 0 up to the maximum range of the device The T MM2 however can accept negative position data This simplifies the calculations required to convert from linear to angular dimensions Acceptable positions for the T MM2 axis actuators ar
66. y 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 corresponding decimal representation of this 32 bit data is given by Decimal value bit O 1 bit 1 2 bit 3 4 bit n 2 bit 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 Page 21 of 49 Copyright Zaber Technologies Inc For example suppose you want all mode bits to be 0 except for bit_3 disable potentiometer 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 22 214 215 8 16384 32768 49160 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 8 to disable the potentiometer If you then send another Set Device Mode command with data of 16384 to disable the power LED you will re enabled the potentiomete

T-Series Positioning Products User`s Manual Firmware 5.00 and up

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