- Zaber Technologies Inc
Contents
1. 23 Command Number Reply Data Current absolute position Behavior version 2 59 and up The device will stop and return its current position Behavior older versions In older versions this command functions only during a constant speed instruction Issuing it during an absolute move or relative move will have no effect 8 8 Read Write EEprom 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 The reply data is simply an echo of the command data except that byte 4 contains the data read from the specified address Behavior version 2 53 and up 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 load some custom data such as a serial number a name string or data that uniquely identifies a particular actuator 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 read write 0 to 127 Byte 4 specifies the data to write it is ignored for reads Behavior older versions Not implemented 8 9 Restore factory default settings 36 Data Bytes Ignored Settings saved in EEPROM Non volatile Reply Data Reply data is simpl2. 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 together Copyright Zaber Technologies Inc Page 8 of 30 6 CONTROL THROUGH THE RS232 PORT Y our communications settings must be 9600 baud no hand shaking 8 data bits no parity one stop bit The amber LED will light wh
3. Reply Data Absolute position in this case 0 Behavior 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 It then stops and calls this position 0 8 3 Renumber 2 Command Number Reply Data Each unit replies with its device ID after renumbering Behavior This command must always be issued with a O in Byte 1 1 e it must be issued to all units simultaneously If issued to a single unit the command will be ignored The unit closest to the computer becomes number 1 The next unit becomes 2 and so forth Renumbering takes about 1 2 a second during which the computer must not send any further data The unit number is not stored permanently so the renumber command must be issued on each power up Copyright Zaber Technologies Inc Page 12 of 30 8 4 Move Absolute 20 Command Number Data Bytes Absolute position in micro steps Reply Data Absolute position after the move is finished If the data is out of range the device will not move but will return 255 in byte 2 Behavior The device moves to the position given by the data bytes The position must be within the acceptable range for the device Move commands are pre emptive In other words if a new move command is issued before the previous move command is finished the device will immediately move to the new position 8 5 Move Relative 21 Comm
4. 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 Be very careful when changing minimum step time maximum step time and acceleration A bad choice can introduce skipping 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 max step time and min step time 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 is the best tuning technique 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
5. may incorrectly believe it is at the zero position You can solve the problem by issuing the home command or by turning the unit on and off and manually homing it Page 27 of 30 13 DATA CABLE PINOUT DIAGRAM The tables below show the pin outs of communications connections on the device and on the serial adapter Device Pin Configuration Female PS2 Pin outs Male PS2 Pin outs Towards next unit Towards computer Not connected Transmit toward computer Ground 12V Power Not Connected Receive from computer Function Device Transmit Computer Receive Ground Device Receive Computer Transmit Female DB9 Copyright O Zaber Technologies Inc Page 28 of 30 14 WARRANTY All Zaber products are backed by a one month satisfaction guarantee If for any reason you are not satisfied with your purchase send it back to Zaber Technologies Inc within one month of the purchase date for a complete refund T 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 15 REPAIRS If your unit needs repairs please Contact us to obtain an RMA number On units with exposed leadscrews 1 e T LA series if possible retract the lead screw fully into the housing This way t
6. 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 Copyright Zaber Technologies Inc Page 6 of 30 5 INSTALLATION 5 1 Connection to a Computer Connecting Zaber devices to a computer 1s a very simple process i Zaber VB6 Demo All com ports are currently closed Com Port fi Open Com Fort and Command A Step 1 Plug the Mini DIN to D Sub Step 2 Connect the power plug of Step 3 Install a demo program from serial adapter into your computer s your power supply 2 1mm center the included CD or download one serial port and plug the device s data positive to the power connector of from the support section of our cable into the adapter You may need the device The green LED should website http www zaber com to use a cable extension to reach your light indicating the unit has power Follow the instructions in the readme computer file to install and run the program There is no need to power down or As a simple first test try entering these reboot the computer instructions USB to RS232 converters are available if you have no RS232 serial 0 2 O Renumber pon 1 0 H
7. your own software try using a demo program from our website to verify that the hardware 1s 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 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 1t 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 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 1s 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 not fully extended then it requires servicing You may be skipping steps When skipping the unit will loose position in increments of 4 steps that is in multiples of 25 4 um
8. ICATORS oooccccccccccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 25 TROUBEESHOOTIN G orase iba ein nt 26 DATACABEEPINOUT DIA GRAM caca laca bi 28 A O aes aeeenosete 29 Pe I sto ee acmacas Sapaceascantossataceteeaacmacsestapausasaegasssianeteeaacpaaseetepeascaaagiessatacedseacanacsaa 29 PI SE UPDATE Sai ici ici ni Sehauisosahereaa madi iaanaaeee 29 Copyright Zaber Technologies Inc Page 2 of 30 I ISCLAIMER otero cuicos 18 TECHNICAL SUPPORT AND CONTACT Copyright O Zaber Technologies Inc Page 3 of 30 1 ZABER T SERIES POSITIONING PRODUCTS T LA Series Linear Actuators T HLA Series Heavy Duty Linear Actuators T CON Series Stand alone Controller T CD Series Chopper Drive Stepper Controller Product Updates If you would like to receive our quarterly email newsletter with product updates and promotions please sign up at http www zaber com news section Copyright Zaber Technologies Inc Page 4 of 30 1 1 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 N A N A Part Stall Load Max Speed Current Mo
9. 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 Copyright Zaber Technologies Inc Page 22 of 30 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 switch 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 Home Sensor Installation Copyright Zaber Technologies Inc Page 23 of 30 10 6 T MM2 2 axis motorized mirror mounts T MM2 Motor
10. T SERIES POSITIONING PRODUCTS USER S MANUAL Covers models T CD T HLA T LA T LS T LES T MM T NM Firmware Versions 2 00 through 2 99 Document Revision 2006 07 14 Visit Www zaber com for more recent updates Zaber Technologies Inc 2891 Steveston Hwy Richmond BC V7E 2J1 Canada 8 10 8 11 8 12 8 13 8 14 8 15 8 16 8 17 8 18 8 19 8 20 8 21 8 22 9 9 1 9 2 9 3 9 4 10 10 1 10 2 10 3 10 4 10 5 10 6 11 12 13 14 15 16 Contents ZABER T SERIES POSITIONING PRODUCTS osas iria pionera EE NNa NEE 4 SENES SPECI IC OS oei rio E E E 5 Device Spec CaO eon aE E EE cejas 5 FIRMWARE VERSION INFORMATION 00 ccccccsscssssescssseeeeseeeeeeeseeeeeeeceseseeeseeeeeseseeeseeeeeeeeeeeeeeeees 6 CAUTION a2 crcaisetnsdeveeansenns TE UTETE EEOAE ENEA EA 6 INTTTATSETUPANDTESTINO orsina EET 6 INSTALLATION eessen EE E 7 Comnectionto aA COMPUSO EEE 7 Linear Actuator Products T LA and T HLA Series oocccconccnncnoccnnonocnnnnnccnnonaconnonaccnnonarononancnnonoss 8 Vacuum Compatible DEVICES esie NES 8 CONTROL THROUGH THE RS232 POR Loros laica 9 COMMAND QUICK REFERENCE sir A eee ek 10 DETAILED COMMAND REFERENCE oerna e adder ti sen He A Eai 12 ME Se OR teers a esis see T net lek asset O seat ten E E eaten atte 12 O A A ean EN 12 A AAA A A eT EHO OP er 12 MOVE Absolute F20 Dd E Eo 13 Move Relato eli 13 Move at Onstant perl dias 13 SLO He A A A O E R 14 Read Write TE prom FI I ido i
11. and Number Relative position can be negative in micro steps Reply Data Absolute position after the move is finished If the data is out of range the device will not move but will return 255 in byte 2 Behavior 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 8 6 Move at Constant Speed 22 Data Bytes Velocity Valid data are from 255 to 255 negative values cause retraction positive values cause extension The velocity varies roughly from 0 to 40 steps s for data from 0 to 63 and from 120 to 700 steps s for data from 64 to 255 Reply Data The reply is an echo of the command The unit may also be set to return its position continuously during the move using the set mode command 40 bit 4 Behavior The unit moves at a constant speed determined by the data bytes until it receives a stop instruction or a new move instruction or reaches a limit of travel Speed is a non linear non continuous function of the data with micro stepping regions and full stepping regions The velocity varies roughly from 0 to 40 steps s for data from 0 to 63 and from 120 to 700 steps s for data from 64 to 255 If precise speed control is important to your application please contact Zaber for a table of exact speeds corresponding to all possible data Copyright Zaber Technologies Inc Page 13 of 30 8 7 Stop
12. ce 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 extended the stage prior to spring removal 10 5 T NM NEMA stepper motors with built in controllers T NM NEMA 17 Stepper Motor with controller Motor 200 steps revolution Device motion 1 8 step Default settings Mode 0 Start Speed 96 Target speed 48 Most Zaber positioning products have built in home sensors However on the 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
13. 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 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 The amber LED flashes when there 1s traffic on the RS232 line It also stays on while the device is moving A constant blinking of the amber LED indicates that the power supply voltage is out of range Copyright Zaber Technologies Inc Page 25 of 30 12 TROUBLESHOOTING Check If the actuator has a manual control knob make sure th
14. e 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 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 numbering software may have been corrupted and the unit numbers may not be what you think they are Issue a renumber command make sure that the computer does not transmit anything else while the units renumber Check that you transmit 6 bytes and that the unit number and command are valid If you encounter the problem when trying to control the device with your own software try using one of the demo programs from our website to verify that the hardware is functioning properly If the unit makes noise but does not move you may have a stall condition see below Page 26 of 30 The unit does not send replies but otherwise works The unit sometimes returns fewer than 6 bytes Stall condition The unit makes noise but does not move Poor repeatability or the unit does not extend or retract smoothly or makes louder than normal noise during travel The device extends and retracts smoothly but will not retract to the home zero position Copyright O Zaber Technologies Inc If you encounter the problem when trying to control the device with
15. e 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 Symptom The unit is not communication or responding to computer control The yellow LED may be dimly lit The unit is moving very slowly It used to behave differently Green LED does not come on Unit starts moving as soon as the power is on or amber LED stays on all the time Amber light flashes Turning the potentiometer causes no motion Communications do not seem to work the amber light does not come on or flash The amber light comes on briefly when sending a command but the device does not move and does not return codes Copyright Zaber Technologies Inc 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 Check the A C wall plug the 12 V 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 The potentiometer is probably not centered Turn the knob slowly until you feel the center detent The amber light should turn off 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 dev
16. e they wish It will be returned unchanged in the reply Logical Channels Mode allows the user application to monitor communication packets individually to implement error detection and recovery The default value is O on all devices Home Status This bit is cleared automatically on power up or reset It is set automatically when the device is homed or when the position is set using command 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 Copyright Zaber Technologies Inc Page 15 of 30 8 256s Set Hold Current 9 512s Stepper motors have a detent torque that causes the motor to jog to the nearest full step position when no current is applied On T LA T LS and T MM series devices the leadscrew friction 1s higher than the detent torque and the hold current may be set to zero without losing position due to this jogging effect On other devices however the hold current should be turned on unless the apparatus to which the device is connected provides sufficient additional friction to hold the micro step position Bits 8 and 9 are used together for this purpose Bits Jo J1 Jo 1 Bito Jo Jo Ji 1 The default values of bits 8 9 are 0 0 Behavior older versions In earlier versions only bits O through 6 are implemented The hold current is always 0 8 11 Set Start Speed 41 Data Bytes Byte 3 is the starting step period time to move 1 full step in i
17. en there is activity on the RS232 lines You can use this feature to determine which COM port you are connected to We recommend using the sample Visual Basic demo program included with Zaber products It contains source code you can use as an example for writing your own programs 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 pulsed laser lab The following table shows the instruction format Unit Command Data least Data most significant significant byte byte The first byte is the unit number in the chain Unit number is the closest unit to the computer and unit number 2
18. he lead screw is protected from damage during shipping Pack the unit well Email us the tracking number of the shipment 1 e FedEx or UPS 16 EMAIL UPDATES If you would like to receive our quarterly email newsletter with product updates and promotions please sign up online at http www zaber com news section 17 DISCLAIMER Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where product malfunction or failure could cause personal injury or death or damage to equipment Zaber disclaims any and all liability for injury or other damages resulting from the use of its products 18 TECHNICAL SUPPORT AND CONTACT You can contact Zaber Technologies Inc for technical assistance by on one of the following methods Phone 1 604 276 8033 direct 1 888 276 8033 toll free in North America Fax 604 648 8033 Mail 2891 Steveston Hwy Richmond BC Canada V7E 2J1 Web http www zaber com for up to date information on all Zaber products Email Please visit our website for up to date email contact information Copyright Zaber Technologies Inc Page 29 of 30 APPENDIX A FACTORY DEFAULT SETTINGS The following tables show the default settings for all Zaber T Series devices under firmware version 2 93 To reset a device to its default settings simply issue command 36 Note that all firmware versions prior to 2 59 store settings in volatile memory and therefore setting
19. icE 14 Restore tactory detal scans Gi 56 lo ued 14 Ser DEEE Modelado 15 Sas no tE A o E e a A E 16 oet Ta zero peed TA r Noeceantansea a se caseden ttavenuas E E 16 Set Accelera on FII a iia 17 EER MOC O 17 Set Curent Position RAS il la 17 Set Maximum Relative Move 46 cccccccssccccsssccccsecccesccceesscsceesecsceesccseeeecsseusecsseescsseenesess 18 SL A a Sy assets OO E A a haleeecetarlunis 18 Rerum Device ID FS id 18 Return Firmware Version FS A A a A a 19 R turi Power Supply Voltase G52 n aaa 19 o a ae a a N 19 Retur eurent POSION TOO A T AA O ON 19 REPLY ONLY COMMAND REFERENCE ova ii 20 Reply 8 Position tracking during constant speed MOVe ooocccccccnncncnnnnnnnononnnonnnnnnnnnnnnnnnnnnnnononanos 20 Reply 10 Position tracking during manual MOVE oooooonnnnnnccnnnnnnnnnnnnnnnnnnnnnnnncnnnnnnnnnnnnnnnnnnnnnnnos 20 Reply 14 Power supply voltage out Of range oooooooooooccccccnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 20 R pIy 2593 ON reared enero NA A AA A AAA Ei 20 DEVICE SPECIFICIN FORMA TION 2 ic 21 T HLA Senes Heavy duty lincar A cia 21 TLA Senes Liner acta OS e E a wasea sooner tese 21 T LLES Series Lone travel hnear slides irte a 21 ETS EIS SU a ETE II REE TS 22 T NM NEMA stepper motors with built in controllers ooooooooooooooncnnnnnnnnnnnnnnnnnnnnnnnnnos 22 T MM2 2 axis motori ed mirror MOUNIS narsis neiise Naenae ENEA iia 24 MANUAL CONTROL AND LED IND
20. ices 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 an unregulated 12V supply rated at over 300 mA then the problem is likely that the supply voltage is too high 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 come on when turning the knob if not try turning the power off and then on again If the unit does not make any noise even when turning the knob both ways the green light is on and the amber light does not flash but turns on when turning the knob or stays off all the time the unit needs servicing 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 th
21. is next and so forth If the number O 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 OxXFF 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 Data field can be signed The value in the data field is converted by the software to the 4 separate data bytes that get 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 the device 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 Copyright Zaber Technologies Inc Page 9 of 30 7 COMMAND QUICK REFERENCE The command quick reference below provides a list of a
22. ized mirror mounts Motor 48 steps revolution Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 Start Speed 96 Target speed 48 T MM2 devices contain two actuators each of which behaves as an independent unit in the Chain Therefore even 1f you have only one T MM2 device connected to your computer you must issue the renumber instruction before you will be able to control each axis independently 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 are in the range from 65536 micro steps the home or fully retracted position to 60671 micro steps the maximum extended position A linear position of zero micro steps corresponds to an angular position of zero micro radians 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 d from the actuator contact points to the pivot point is 66 66 mm Using the approximation dD oP where dp is linear displacement of the actuator and dO is angular displacement of the mounting plate yields an angular resolution of 15 urad per um of linear travel This approximation is good for po
23. just been issued but the setting will not be changed 8 22 Return Current Position 60 Command Number SS Reply Data Current absolute position Behavior all versions This causes the unit to return its current micro step position Copyright Zaber Technologies Inc Page 19 of 30 9 REPLY ONLY COMMAND 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 constant speed move Reply Command Number 8 Reply Data Current absolute position in microsteps Meaning The unit has been set to position tracking mode see Set Mode instruction and given a constant speed instruction In this mode the unit sends a reply with command 8 at regular intervals updating the current position during constant speed instructions 9 2 Reply 10 Position tracking during manual move Reply Data Current absolute position in microsteps Meani
24. m 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 be 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 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
25. mands 5 32s Disable Manual Position Disables automatic position replies during manual Tracking moves Communications 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 Reply Only Commands in Firmware version 2 93 ge Constant speed position tracking N A Reply only Current absolute 20 position 20 Manual move position tracking 1 N A Reply only Current absolute 0 position Power supply voltage out of range 1 N A Reply only Power supply voltage 20 4 Command data out of range 2 N A Reply only Current absolute 20 5 position 5 Copyright Zaber Technologies Inc Page 11 of 30 8 DETAILED COMMAND REFERENCE Note that these commands apply only to firmware versions 2 00 through 2 99 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 Command Number OOOO Reply Data Behavior 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 8 2 Home 1 Command Number
26. ncrements of roughly 0 05us The default is 96 4 8ms Other data bytes are ignored Reply Data Reply data is simply an echo of the command data Behavior Data represents the starting step period in units of roughly 0 05 us Valid data are from 1 to 255 In practice data less than about 25 is likely to cause stalling The starting step period must be greater than the target step period set with command number 42 8 12 Set Target Speed 42 Data Bytes Byte 3 is the target step period time to move 1 full step in increments of approximately 0 05 ms The default is 48 2 4ms Other data bytes are ignored Reply Data Reply data is simply an echo of the command data Behavior When the device moves it starts at an initial speed determined by the Start Speed setting and accelerates at the acceleration rate up to a maximum speed determined by the Target Speed setting These settings are recorded as step periods the smaller the period the faster the speed Note that step periods less than 1 5ms are likely to result in missed steps or stalling even with no load since torque decreases with speed Copyright Zaber Technologies Inc Page 16 of 30 8 13 Set Acceleration 43 Data Bytes Byte 3 is the acceleration rate in increments of about 0 05 ms per step per step The default is 1 0 05 ms step step Valid data are from 1 to 255 Other data bytes are ignored Reply Data Reply data is simply an echo of
27. ng 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 9 3 Reply 14 Power supply voltage out of range Reply Data Measured power supply voltage in increments of 0 1V i e 97 9 7V Meaning This reply is triggered when the power supply voltage moves out of range If your power supply is not capable of enough current to drive the devices connected to it you may see this reply You will also see it if the power supply voltage 1s too high 9 4 Reply 255 Error Reply Data Current position in microsteps Meaning This reply indicates that the command data is out of range Copyright Zaber Technologies Inc Page 20 of 30 10 DEVICE SPECIFIC INFORMATION Zaber T Series positioning devices are driven by stepper motors using a micro stepping controller with 64 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 corresponding 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 10 1 T HLA Series Heavy duty linear actuators T HLA Heavy duty Linear Actuator Motor 96
28. ntrol 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 or reset all settings to factory defaults Behavior older versions Not implemented 8 18 Return Device ID 50 Command Number Reply Data Device ID Behavior This causes the unit to return an identification code indicating the type of device connected Copyright Zaber Technologies Inc Page 18 of 30 8 19 Return Firmware Version 51 Command Number Reply Data Firmware Version Note that the firmware version may take up more than one byte Behavior This causes the unit to return its firmware version number A decimal is assumed before the last two digits For example reply data of OxOOOOOOFD 253 firmware version 2 53 8 20 Return Power Supply Voltage 52 52 Reply Data Power supply voltage Behavior This causes the unit to return the voltage of its power source in increments of 0 1 Volts Ex 127 indicates 12 7 V 8 21 Return Setting 53 2 Setting Number Reply Data Setting number in Byte2 Setting value in data bytes Behavior This causes the unit to return the current value of the setting number 40 through 48 specified in Byte3 The unit will reply with the setting number in Byte2 as if a command to change the setting had
29. oad 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 solvents A small amount of silicon based grease should be applied to reduce friction backlash and sticktion For vacuum compatible products we recommend NyeTorr 5300 silicon based vacuum grease available fro
30. ome Additional Devices Additional units can simply be daisy chained to the first For long chains a power supply should be connected at every 3 unit A renumber command needs to be issued after a new unit is connected before it can be controlled independently from the demo program Copyright Zaber Technologies Inc Page 7 of 30 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 condition 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 counterparts with the following exceptions Lubrication All lubricated interfaces motor bearings leadscrews leadnuts etc are cleaned and regreased using a vacuum compatible lubricating gel NyeTorr 5300 vapor pressure
31. p overshoot on negative moves The default value is O on all devices Enable Anti sticktion Routine A value of 1 enables the anti sticktion routine On moves less than 10 steps the device will first retract to a position 10 steps 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 10 step negative move The default value is 0 on all devices Disable Potentiometer A value of 1 disables the potentiometer preventing manual adjustment of the device The default value 1s O on all devices 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 This feature is available in firmware versions 2 04 and higher The default value is 0 on all devices Disable Manual Position Tracking A value of 1 disables automatic position replies during manual moves The Disable Auto Reply option above takes precedence over this option This feature 1s only available in firmware versions 2 09 and higher The default value is O on all devices 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 1s used as an ID byte that the user can set to any valu
32. rn 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 Copyright Zaber Technologies Inc Page 17 of 30 8 16 Set Maximum Relative Move 46 Data Bytes The desired maximum relative move in micro steps Setting saved in EEPROM Non volatile Reply Data Reply data is simply an echo of the command data Behavior versions 2 58 and up Use this command to limit the maximum range of travel for a relative move command For example 1f maximum relative move is set to 1000 and the user requests a relative move 20 of 800 then the device will move 800 microsteps However 1f the user requests a relative move of 1200 then the device will reply with an error 255 Most applications can leave this unchanged from the default Behavior older versions Not implemented 8 17 Set Alias 48 Data Bytes Byte 3 is the alias unit number Valid numbers are between 0 and 254 To avoid confusion it is best to choose an alias greater than the number of units connected However this is not required Reply Data Reply data is simply an echo of the command data Behavior versions 2 52 and up This creates an alternate unit number for a device in addition to its actual unit number By setting several units aliases to the same value you can co
33. s are reset every time the device is powered down Default settings in firmware version 2 93 note that in 2 93 firmware the Microstep Resolution is fixed at 64 microsteps step Product Range Powerup Start Mode prefix micro Position Speed steps T HLA28 1 282879 T LS1I3 T LS28 l l T NM l Range 2 The T MM2 product has a home position of 65536 instead of 0 Since the default range is 126207 the default maximum position is 65536 126207 60671 ET Lo alll haa heal a 8 606463 Range 96 Ot 8 ET Lo 06 73 oo ETA E oc Los CTA JO Copyright O Zaber Technologies Inc Page 30 of 30
34. sitions near zero but introduces an error up to 300 urad at the minimum and maximum travel If better accuracy 1s desired over p the full range of motion then the equation tan 5 0 09921875 e should be used where p is the actuator position in micro steps lis 66660 um and O is the desired angular position in mrad The following table was created using the above calculations T MM2 Position Table Dimensional Cross Reference Actuator extension Actuator extension mrad using 15 urad um mrad using tangent micro steps um approximation Eo E 65536 min home 6502 4 A 97 536 A 238 A SO 60671 max 6019 7 L ow Copyright Zaber Technologies Inc Page 24 of 30 11 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
35. steps revolution Device motion 609 6 um revolution Default settings Mode 0 Start Speed 96 Target speed 48 10 2 T LA Series Linear actuators T LA Precision Linear Actuator Motor 48 steps revolution Device motion 304 8 um revolution Default settings Mode 0 2 es Start Speed 96 Ne Target speed 48 10 3 T LLS Series Long travel linear slides T LLS Long travel Linear Slide Motor 200 steps revolution Device motion 2 mm revolution Default settings Mode 0 Start Speed 96 Target speed 48 Copyright Zaber Technologies Inc Page 21 of 30 10 4 T LS Linear stages T LSxx Linear Stage Motor 48 steps revolution af Device motion 304 8 um revolution 6 35 um step Default settings Mode 0 Start Speed 96 Target speed 48 T LS linear stages contain a spring which applies a light load against the leadscrew Typically these stages 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 introdu
36. the command data Behavior The acceleration setting specifies the amount of time subtracted from the step period after each full step when accelerating from the starting speed up to the target speed The default value of 1 0 05ms corresponds to the slowest available acceleration and is generally sufficient If faster acceleration is desired try increasing the value 8 14 Set Range 44 Command Number 44 Data Bytes The desired new range in micro steps The least significant byte is rounded up to OxFF The true range will be within 4 steps of the specified value Reply Data Reply data is simply an echo of the command data Behavior version 2 09 and up 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 Behavior older versions Not implemented The range is fixed for a given device and cannot be changed by the user 8 15 Set Current Position 45 Absolute position Reply Data Absolute position in this case the position that was just set Behavior 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 has the same phase This command is useful if you want to tu
37. unting Interface Manual Draw Control 320 mA v4 20 or M6 holes Yes T LA28A 40 N 4 mm s 320 mA 3 8 32 threaded shank T LA60A T HLA28 GON N 500mA mA 3 8 32 3 8 32 threaded shank shank T LLS105 93 N 6 mm s 800 mA 5 40 holes T LLS260 Yes T MM2 60 mrad s 600 mA Y4 20 M6 adapter available 2100 g cm 180 rpm 900 mA M3 holes 5mm shaft T XXXX S All part numbers are available with the S suffix These parts are identical to No 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 Copyright Zaber Technologies Inc Page 5 of 30 2 FIRMWARE VERSION INFORMATION The version of firmware installed on any Zaber T Series device can be determined by issuing command 51 A 3 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 2 00 through 2 99 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 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 downl
38. vailable commands at a glance A Detailed description of each command is given in the following section Command Quick Reference for Firmware version 2 93 Reply Data l IO O O EE Home 1 Ignored Absolute position Move absolute 20 Absolute position Absolute position po ia Move relative 21 Relative position Absolute position data data A a E S data A AA e e setting data data eee E EN data AAA AA AR e data A A A E data E A ee Ea move data CO mall ali O RL OO Set alias 48 Alias unit number Echo of command data CO O a Return power supply 32 Ignored Power supply voltage voltage Return setting 53 Setting Number Byte2 Setting number Byte3 Setting value O RK 1 0 100 MO The settings for these commands are saved in non volatile memory 1 e the setting persists even if the device is powered down To restore all non volatile settings to factory default values use command 36 Copyright Zaber Technologies Inc Page 10 of 30 Command 40 Set mode Options in Firmware version 2 93 See page 15 for details Data bits 0 Cs Disable Auto reply Disables ALL replies except to commands 50 and higher 1 2s Enable Anti backlash Enables the anti backlash mode 2 4s Enable Anti sticktion Enables the anti sticktion mode 3 8s Disable Potentiometer Disables the potentiometer 4 16s Enable Position Tracking Enables position replies during constant speed com
39. y an echo of the command data Behavior version 2 59 and up This command changes all settings back to their factory default values Settings are stored in non volatile memory and thus are unaffected by power down Behavior older versions This instruction is not available in versions older than 2 59 Instead settings are stored in volatile memory and thus are reset to factory defaults on every power down or reset Copyright Zaber Technologies Inc Page 14 of 30 8 10 Set Device Mode 40 Bytes 3 and 4 are the mode configuration bytes All other bytes are 1gnored Reply Data Reply data is simply an echo of the command data Behavior version 2 77 and up This command allows setting several options Each option is controlled by a single bit within Bytes 3 and 4 All settings are stored in non volatile memory and are not affected by power down or reset Byte 3 Description bit O Cs Disable Auto reply A value of 1 disables ALL replies except those to return commands commands 50 and higher The default value is O on all devices Enable Anti backlash Routine A value of 1 enables the anti backlash routine On negative moves retracting the device will overshoot the desired position by 10 steps 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 10 ste
Download Pdf Manuals
Related Search