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ASCII_Protocol_Manual Product User`s Manual Firmware 6.06 and

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1. The axis is moved towards the home position closest to the motor generally at the lesser of the limit approach maxspeed and maxspeed settings Once the home position is reached the current position is reset to the limit home preset Additionally limit home triggered is set to 1 and the No Reference Position WR warning flag is cleared This command is equivalent to tools gotolimit home neg 2 0 Example Usage home 01 0 OK BUSY WR O NOTE Upon power up or setting changes this command should be issued to obtain a reference position Otherwise motion commands may respond with a rejection reply or behave unexpectedly io info Returns the number of I O channels the device has Scope Device Parameters help 18 laolaildol di The parameters are used to specify the channel type ai for Analog Input ao for Analog Output di for Digital Input and do for Digital Output Channel numbers start at 1 for each type If the channel type is not specified all channels will be returned in the following order analog out analog in digital out digital in Example Usage Getting the available io configuration io info 01 0 OK IDLE 0 4 4 4 Device has no analog outputs 4 analog input channels 4 digital outputs and 4 digital inputs Getting the configuration of a specific port type io info ao 01 0 OK IDLE O Device has no analog output capabilities Invalid port type io info as 01 0 RJ IDLE BADCOMMA
2. ASCII Protocol_Manual Product User s Manual Firmware 6 06 and up Last Update January 31 2014 Visit www zaber com wiki for more recent updates Zaber Technologies Inc Ist Floor 1777 West 75th Ave Vancouver British Columbia Canada V6P 6P2 Table of Contents Conventions used throughout this COCUMENL ccscccsssssssscsssssssssccsssccsssssscssssssssesssssssssssssssssssesssssescssses 1 A RO 2 Oiio ELAn i aAA ete did cke EE S shee aan aang tee sence daa ba cosa E EE obustey A EEE 2 Talking to Zaber Devices iis acces iets till dana haces ees Seatac Sah iit an teste setae 2 Making it MoVesi a Gavin aa tee UP Ae de eG as 3 Changing a Device Setting le AE ea RA aa goad oad belie a 3 Talking to an Individtial Device rsciccsicccsecscovssesssescend ete cktccecsesedectandeasdesadteas gecesnecedadssunvacdbbebnustecuuartivinvend 4 Talking to an Individual AXIS oiiaii eae rat EE EEEo ETSE EE E E a a aa 4 B iltimH lpeznsnn i n A eae aL E da 4 Quick Command Referencial EENE AE ANETE EAE EENE EEEE A EE EEEE 5 QUICK Ina Datei aTa AA E IEA E E TA E E EATE E 5 Quick Device Setting Sks radia geal ea SEEE iiss cain ac 6 Miessace Foriniat A E E AE A A E E AEE 9 COMMAS sito once A NEEE A A A AEA MCAD EA N NE 9 Replies ii scada ciclos aTe 10 Wearing NO 12 Mita dra EA EEEE 13 A A PR PO ANEURIN AR 14 Command Reference sisi iecesicdeveissssctssasiceseasectscasescusssecouessasdocssasdoessesooessesecousosecoesesasoeceseedcessasooesesdecoeteo
3. pheralid Yes The id of the connected peripheral pos Axis Yes The current absolute position of the device resolution Axis Yes Microstep resolution system access Device Yes Sets the access level of the user sen No The number of axes in the device No The current being drawn by the device and motors system led enable ee enable Deve fe Enables the front panel LEDs No The current temperature of the unit in degrees Celsius No The voltage being applied to the device version Device No The firmware version of the device Quick Device Settings 8 Message Format The protocol uses a command reply model such that e Communication must be initiated by a user sending a device a command e The device always responds with one reply immediately after a command has been received e Unless explicitly enabled a device will not send any message other than a reply to a command The contents of the message is space delimited with consecutive spaces being treated as a single space There is only one command or response per message Sending multiple commands in a single message is not supported Commands Commands are sent from the user to one or more devices which always and immediately respond with a Reply The data field in the command is case sensitive space delimited and depends on the command being executed See the Command Reference for all the available commands A command instructs the device to perform an opera
4. set 24 Example Usage system reset 01 0 OK IDLE 0 system restore Restores common device settings to their default values Scope Device Parameters none This command resets common settings to their default for the device and peripheral Communications settings are not modified Example Usage system restore 01 0 OK IDLE 0 tools echo Echoes the provided message if any back to the user Scope Device Parameters message This command always returns a successful response with any message provided by the user Example Usage tools echo hi there 01 0 OK IDLE hi there tools findrange Uses the home and away sensors to set the valid range of the axis for the current session Scope Axis system reset 25 Parameters none This command replaces the home command on an axis equipped with both home and away limit sensors The axis is first homed and the current position set to limit home preset If there is an away sensor present the axis is then moved to the away sensor Once the away sensor is triggered the limit max setting is updated to the current position for the current session This command is equivalent to the following set of commands issued in order tools gotolimit home neg 2 0 or equivalently home tools gotolimit away pos 1 1 NOTE Upon power up or setting changes this command should be issued to obtain a reference position and valid range O
5. 401 0 OK IDLE O 402 0 OK IDLE O The devices renumbered with the device closest to the computer being at address 1 and the next closest being at address 2 Renumbering a specific device 2 renumber 4 404 0 OK IDLE 0 Device 2 renumbered and replied on address 4 Invalid device number renumber 999 01 0 RJ IDLE BADDATA The requested device number was outside of the allowable range NOTE The device will reply on its new address not the address the command was sent to set Sets the device setting Scope Device and Axis Parameters setting value Sets the device setting setting to the value See Device Settings for a detailed list or settings and what they do renumber 23 Example Usage Writing a device setting set knob enable 1 01 0 OK IDLE O The device setting was successfully configured Invalid value set knob enable 7 01 0 RJ IDLE BADDATA Invalid setting get system voltage 01 0 OK IDLE O set system voltage 0 01 0 RJ IDLE BADCOMMAND It s possible to read from some settings but not write to them stop Decelerates an axis and brings it to a halt Scope Axis Parameters none To quickly stop an axis see the estop command Example Usage stop 401 0 OK BUSY 0 system reset Resets the device as it would appear after power up Scope Device Parameters none
6. Adjust the effective travel range tools gotolimit away pos 1 1 O01 0 OK BUSY 0 Assuming that there is already a reference established the command above leaves the current position as it is when the away sensor it triggered The limit max setting is then updated to the current position tools parking Parks the device Scope Device Parameters state park unpark Parking allows the device to be turned off and then used at a later time without first having to home the axes The parking state can be queried with the state option returning 1 if parked or 0 if not A device can be parked with the park option Once parked any movement commands will result in a FAILED error except for home which will home the respective axis and clear the parked state A parked device can be restored by powering it on and issuing the unpark command Example Usage Parking tools parking park 01 0 OK IDLE O Unparking tools parking unpark 01 0 OK IDLE O Parking when busy tools parking park 01 0 RJ BUSY FAILED The device cannot be parked while it is moving NOTE Parking should not be used when there is a load on the device that could cause it to slip when the motor hold current is turned off tools gotolimit 27 tools setcomm Sets the RS232 baud rate and communication protocol Scope Device Parameters rs232baud protocol rs232baud specifies the desired RS232 baud rate This parameter shares t
7. Moves the axis to a limit sensor and as limit dir action update E oe performs the provided actions Parking allows the device to be turned off tools parking Device statelparklunpark and used at a later time without first having to home Sets RS232 baud rate and communication protocol rs232baud protocol Stores a number of positions for easy number positionlcurrent Olposition storepos movement Refer to the documentation Configures actions to be performed on the trigger Device below device when a certain condition is met number axis displacement 5 f Configures a trigger to toggle a digital trigger dist Device number enable count output line every displacement microsteps number disable number period Configures a periodic trigger to toggle a trigger time Device number enable count digital output line every period number disable milliseconds Displays the active device and axis warnings optionally clearing them if applicable Quick Device Settings The settings listed below can be inspected and modified with the get and set commands described above A Scope Writable Description accel Axis Yes Sets the acceleration used to modify the speed The number of counts generated by the encoder for one full cloop counts Axis Yes revolution cloop mode mode Axis Yes Sets the closed loop control mode The amount of time to wait after a stall displacement condition cloop sta
8. char p message l skip the type character if strlen message 6 lt max_length is there room for the checksum while p 0x00 c_sum unsigned char pt calculate the checksum c_sum c_sum 1 negate add the checksum to the message sprintf p 02X r n c_sum return CSUM_OK return CSUM_NOSPACE se Verifying a received message int csum_verify char message unsigned char c_sum 0 char p message l skip the type character while p 0x00 i c_sum unsigned char p calculate the sum if p found the checksum field process c_sum strtol p NULL 16 convert the sent checksum return c_sum 0 CSUM_OK CSUM_FAIL return CSUM_NOTPRESENT Python Calculating a message checksum def csum_message msg c_ sum 0 for c in msg 1 c sum ord c calculate the sum of the message to be transmitted c_sum 256 c_sum amp OxFF take the ones compliment negate return s 02X r n msg c_sum return the full message Verifying a received message def csum_verify msg c_sum 0 if msg find lt 0 return None return nothing if the checksum isn t present x_msg X_sum msg split 1 seperate out the message and checksum for c in x_msg 1 c_sum ord c recalculate the sum of the received messag c_sum c_sum int x_sum 16 amp OxFF add in the received checksum
9. e 4 Stall Recovery Same as Position Correction however if stalling is detected the axis will stop and resume after a stall timeout e 5 Displace Recovery Same as Stall Recovery however if a stationary axis is forced out of position the axis will restore to the original location after a timeout Closed loop mode can be enabled on devices with built in encoder To use closed loop modes with a third party encoder enable encoder mode and configure all encoder related settings Set encoder dir so that encoder count increments in the same direction as pos Adjust cloop steps and cloop counts to reflect the correct ratio between motor full steps and encoder counts cloop stalltimeout Stall recovery time out cloop counts 36 Scope Axis Valid Range 0 65535 Access Level norm Specifies in milliseconds the amount of time to wait after a stall displacement condition before attempting to recover from it for closed loop modes cloop steps Steps per revolution Scope Axis Valid Range 1 255 Access Level adv Specifies the number of stepper motor full steps used for the closed loop mode encoder count to motor step ratio This value is typically the number of full steps required for the motor to complete one revolution comm address The device address Scope Device Valid Range 1 99 Access Level norm The device will change its address and then respond when being set e g 01 set comm addre
10. BADDATA Once the device has been homed you can make the device move by sending a move command For example to move 10000 microsteps forward from the current position move rel 10000 01 0 OK BUSY 0 To move 10000 microsteps away from the home position regardless of the current position move abs 10000 01 0 OK BUSY 0 Changing a Device Setting All of the device settings are read and modified using the get and set commands For example to query the device maxspeed get maxspeed 01 0 OK IDLE 153600 The maximum speed setting is currently 153600 The speed in microsteps sec is calculated as data 1 6384 which equates to 93570 microsteps sec for the data value of 153600 On a multi axis device the same command would return a value for each of the axes For example get maxspeed 01 0 OK IDLE 153600 153600 To set the device to move at a target speed of 50000 microsteps sec the speed setting would be modified as shown below set maxspeed 81920 01 0 OK IDLE 0 Talking to Zaber Devices 3 On a multi axis device the command above would set the speed for all axes To only query or set a value for a specific axis see the Talking to an Individual Axis section below Talking to an Individual Device Up until now all the commands that have been sent haven t included a device address If you have more than one device in a chain you may have noticed that all of the devices moved at once in
11. BS Status Line is enabled Alarm sound Yes Foreground Color menu WHITE Background Color menu BLACK Foreground Color term WHITE Background Color term BLACK Foreground Color stat WHITE Background Color stat BLACK History Buffer Size 2000 Macros file macros Edit Macros Macros enabled Yes Character conversion Add linefeed No Local echo Yes nge which setting Esc to exit i Save the setup as default Exit 4 Type a test command in this example and press enter The device should respond as shown below Minicom 59 nathan firmware nathan Welcome to minicom 2 5 OPTIONS I18n Compiled on May 2 2011 00 39 27 Port dev ttyUSBO Press CTRL A Z for help on spectal keys a OK IDLE WR 5 Minicom can be exited by pressing Ctrl A then X Troubleshooting e If no data is received from the device s check the following The correct serial port and baud rate are being used Refer to the device specific User Manual for the correct settings The devices are powered on Each device should have a green light on the front panel The devices are connected to the computer correctly Troubleshooting 60 Appendix B Available Serial Ports Finding Installed Serial Ports Windows 1 Right click on Computer or My Computer and select Manage i Commie 3 2 Disk chives E Y Liste adagters DDR dees kiim shad flies EA Loca
12. in this example and click save Next time the connection can be opened by double clicking on Zaber Device Chain in the Saved Sessions list 56 OR re dealin 09 iu ado ene pe Sail AAA AAA AAA AAA A AIRRAAANAAAAAN Me F510 E Tamil R ybral i Bal i Peares Es gt Amarte i mar Tarskion i Baaai i Edan Comentar Dee io Fa Telnet i login EY 35H gt Baral az MACACO ze Diana elle Devout Saing Lyi AAAAAAAAAAAAAAAAAAAAAANS EMS AAA And Da fakan AAAA AANA ESS SSS OOOO Aaron AAA A PA AALO Aro 5 Click Open A window similar to the one shown below will appear Send a command in this case and press enter The device should respond as shown below JR ELLE GE 4 0 Send a test command to check the connection In this case help was sent and data was received PuTTY 57 Minicom Minicom is the recomended application for controling Zaber devices in ASCII mode on Linux 1 Install Minicom using your distributions package manager e g for Debian and Ubuntu sudo apt get install minicom 2 Run Minicom from a terminal 3 Press Ctrl A then O to open the options menu 4 Select Serial port setup Q Set the serial device A to the correct device 0 Set the baud rate E to 9600 Disable hardware and software flow control F G Q Press Enter to go back to the configuration menu natha
13. port allows setting of all digital outputs at once Example Usage Clear digital output 3 io set do 3 0 01 0 OK IDLE O io get 20 Using the port command to set digital output 1 3 4 and clear output 2 io set do port 1011 01 0 OK IDLE 0 Invalid port type io set ad 2 50 01 0 RJ IDLE BADCOMMAND Port type that s not an output or has no channels io set ai 2 50 01 0 RJ IDLE BADDATA io set ao 2 50 01 0 RJ IDLE BADDATA Invalid channel number io set do 8 1 01 0 RJ IDLE BADDATA Repeats the last successfully decoded command Note that this command is a lower case L 1 not the number One 1 or a Pipe Scope Device Parameters none This command repeats the previous command sent to the device and replies with that command s response Example Usage 1 move rel 10000 01 1 OK BUSY O JLo 401 1 OK BUSY O The device will move all axes forward 10000 microsteps due to the move command and then another 10000 due to the 1 command move Moves the device to various positions along its travel Scope io set 21 Axis Parameters abs rel vel value min max stored number value is in units of microsteps abs moves to the absolute position of value Value must be in the range limit min limit max rel moves the axis by value microsteps relative to the current position Value must be in the range l
14. the command but is typically 0 zero CC Message Checksum Length 3 bytes A device will append a checksum to all replies if the comm checksum setting is configured to 1 More information and code examples are provided in the Checksumming section below ff Message Footer Length 2 bytes This field always contains a CR LF combination r n for a reply message Replies on Multi axis Devices For replies with an axis number of 0 the status and warning flags apply to the whole device If any axis on the device is moving then the reply status will be busy Similarly the warning flags show the highest warning across all axes For replies with an axis number of 1 or above the status and warning flags only apply to the axis indicated Replies 11 Warning Flags A warning flag is provided in each device to user reply message indicating whether any device fault or warning is active If more than one condition is active it shows the one with highest precedence The warning flags are defined as follows with the highest priority first FD Driver Disabled The driver has disabled itself due to overheating This warning persists until the driver returns to normal operating conditions F S Stalled and Stopped Stalling was detected and the axis has stopped itself This warning persists until acknowledged and cleared by the user with the warnings command Limit Error The axis took too long to reach the target limit sensor
15. 0 the encoder index line needs to go high when both the encoder phase lines are low for the index pulse to be counted When this setting is 1 the encoder index line needs to go high when both the encoder phase lines are high for the index pulse to be counted encoder mode Specifies the operating mode of the encoder Scope Axis Valid Range 0 1 Access Level adv Valid settings are e 0 Disabled No encoder is present e 1 Normal The encoder input is enabled encoder index count 41 knob dir Knob movement direction Scope Axis Valid Range 0 1 Access Level norm Sets the movement direction for the knob 0 and the device moves in a positive direction for clockwise rotation 1 reverses the direction knob distance The distance moved via the knob Scope Axis Valid Range 0 limit max Access Level norm Sets how far the axis moves with each step of the knob in displacement mode in microsteps knob enable Enables the knob Scope Axis Valid Range 0 1 Access Level norm Enables the use of the knob when set to 1 knob maxspeed The maximum speed that can be achieved with the knob in velocity mode Scope Axis Valid Range 1 resolution 16384 Access Level norm When in velocity mode the axis will move up to a maximum speed determined by this setting The actual speed is calculated as knob maxspeed 1 6384 microsteps sec knob mode Sets the mode of the knob Sc
16. AE AA EA TOE NAKAKAIN KANA NOL NEA EE A A IRANE Nahas Betis diver CUE TUN ssi odo E E i E il a aans A O Orven teMperdtUTE cilindro ENCOMEM COMUNE a dto TAE ENE TTE aia ENCO ST AMES A AA A A OE encoder dex Phases inn ainia isos fish CNCOdEr MOE shee ie sell esse ibe esos BRR tac isl Rion ve dotes knob maxspeed 2 5 0 sistent ents a hee A ae NODO de ts ete Nba A Gee ATE es Table of Contents Device Settings OO ACCELOMIY sacs E E Solve sean ceva A aa 48 a A RO 48 o NN 48 Ei On EETA OO 48 SALON AE IRTO A A AS 49 TE S A E S EE E A E A A T deta E E A T 49 SYSTEM AXISCOUNE ni sanan iene ie e eN Ee E EEE EET EAEE AE EE EEEE E a AE a 49 SYSTEM Cuire nin ig a ET A A ANENE EA E scaeas 49 system led nal a a ee pe 50 system temperature escindida 50 SYVSLEM VONAGE tdi dt II li tania 50 SAARI LOI T EA E A EEE ENA 50 CHeCK SUMMING isc cssscesSeusssesdcssescdececiesceseusetcosessdencsonesesetec esesvecedvessssensevageasese dsosees seesesoncsdeoes eot s stoves secsesessecescses 52 NES A A ROT 52 Example Codes siii sab begs E cei wack A ERE caido betes aTa 52 E E A EE E E re eT SA Ee AE oT 52 PM lirio tias 53 Appendix A Communication Software csssssccsssscsssscssssssssscssscssssscsssssssscssnsscsssascessscsssssssassssescesssees 55 Zabir COS A A A AER ER AINA 55 PUTTY A NANI 56 O A NN 58 Troubleshooting alien eones 60 Appendix B Available Serial Ports sscssssssssssssssssssssssssssssscsssscssssssss
17. ND io get Get the current value of the specified I O channel type Scope Device Parameters aolaildo ldi channel If channel isn t specified a space delimited list of all channels of the requested type are returned For digital channels a value of 0 indicates that the input or output is not conducting and a value of 1 indicates that the channel is conducting For analog channels the vaule returned is a measurement of the voltage present on the input with enough decimal places to cover the available resolution To see the available resolution please consult the Series Specs Tab on the device Product Page Example Usage io info 19 Reading an analog input io get ai 2 01 0 OK IDLE 7 5 Analog input 2 has 7 5V on it Reading all digital outputs io get do 01 0 OK IDLE 001 0 Digital output 3 is high while the rest are low Invalid port type io get as 0 01 0 RJ IDLE BADCOMMAND Invalid channel number using the available channels from the io info command above io get ai 5 01 0 RJ IDLE BADDATA io get ao 01 0 RJ IDLE BADDATA The analog output port has no channels and can t be displayed lo set Sets the specified output Scope Device Parameters do channel value do port value value2 Sets the specified output channel to value For digital channels a value of 0 clears the output while any other value sets it Specifying
18. This warning persists until acknowledged and cleared by the user with the warnings command WL Unexpected Limit Trigger A limit sensor triggered unexpectedly This occurs when an automatic limit sensor action is carried out on a previously triggered sensor This warning persists until acknowledged and cleared by the user with the warnings command WV Voltage out of range The supply voltage is outside the recommended operating range of the device Damage could result to the device if not remedied This warning persists until the condition is remedied WT System Temperature High The internal temperature has exceeded the recommended limit for the device This warning persists until the over temperature condition is remedied WM Displaced when stationary While not in motion the axis has been forced out of its position This warning persists until the axis is moved WR No Reference Position Axis has not had a reference position established This warning persists until the axis position is updated via homing or any command action that sets position Nc Manual Control Axis is busy due to manual control via the knob This warning persists until a movement command is issued NI Command Interrupted A movement operation command or manual control was requested while the axis was executing another movement command This indicates that a movement command did not complete This warning persists until a movement command is issued when the axis
19. Zaber devices listen for Commands sent to them over a serial port and then immediately respond with a Reply Commands always begin with a and end with a new line Some commands take parameters which are separated by spaces Two example commands are 1 help 1 move abs 10000 Where the move command has parameters of abs and 10000 Replies begin with a have 4 or more parameters and end with a new line For example the most common reply is 01 0 OK IDLE 0 Which can be broken down into 01 OK IDLE Quick Start A Reply The id of the device sending the reply The reply scope O for the device or all axes 1 onwards for an individual a The command succeeded The device isn t moving otherwise BUSY if it is moving The return value No faults or warnings in the device typically 0 A complete description of the reply fields is available in the Replies section Devices can also send two other types of messages Alerts starting with and Info starting with Info messages are commonly seen in response to a help command Making it Move Before a device can moved it first needs to establish a reference to the home position This is achieved by sending the home command as shown below home 01 0 OK BUSY WR O If the device isn t homed and a move command is attempted the device will respond with a rejection reply and the Invalid Reference WR flag set move rel 10000 01 0 RJ IDLE WR
20. ages is in reply to a help command e g 1 help 01 0 OK IDLE WR O 01 O COMMAND USAGE 01 0 stop stop all devices 01 0 1 stop stop device number 1 010 1 2 stop stop device number 1 axis number 2 01 0 01 0 Type help commands for a list of all top level commands 01 0 Type help reply for a quick reference on reply messages 01 0 Visit www zaber com support for complete instruction manuals Info 13 Alerts An alert message is sent from a device when a motion command has completed If it is enabled this message can be sent at any time without being preceded by a command from the user This message type is used for informational purposes or time sensitive operations Alerts are controlled by the comm alert setting which has to be 1 for the device to send status alerts A typical alert message and its fields are 101 0 IDLE Inn a ssss ww CC ff Message Type Length 1 byte This field always contains for an alert message nn Device Address Length 2 bytes This field contains the address of the device sending the alert always formatted as two digits a Axis Number Length 1 byte ssss Device status Length 4 bytes This field contains BUSY when any axis is moving and IDLE when all axes are stopped ww Warning flags Length 2 bytes Contains the highest priority warning currently active for the device or under normal conditions A full description
21. alid Range limit min limit max Access Level norm NOTE Changing the value of this setting could result in the axis attempting to drive past its physical limits resolution Microstep resolution Scope Axis Valid Range 1 256 Access Level norm Defines the number of microsteps per step of the motor A typical A Series motorized axis has 200 steps per revolution and a default microstep resolution of 64 therefore it takes 12800 microsteps to make one full revolution of the motor For the parameters for a specific device please refer to the device specific product page at http www zaber com products NOTE When the resolution is updated the motion accelonly motion decelonly limit min limit max knob maxspeed knob distance and maxspeed settings are updated according to their default values and not their current values After changing this setting the axis should be homed before any movement is performed system access Specifies the access level of the user Scope Device Valid Range 2 Access Level norm Some commands require an access level of advanced as they can potentially cause damage to the device and stage To use those commands and setting system access has to be set to access level 2 system axiscount Reports the number of axes in the device Scope Device Valid Range 2 Access Level norm Read Only This setting reports the number of axes in the queried device system curr
22. ample 1 trigger show 01 0 OK IDLE e d 500 ddd Trigger 1 is enabled trigger 3 will fire 500 more times before disabling and the rest of the triggers are disabled The enable parameter turns on the specified trigger executing the actions whenever the trigger fires If the count parameter is specified the trigger action s are only performed count times NOTE The count parameter itself is non volatile but the value is not updated as the triggers fire Upon reset the value is restored to the configured value allowing the device to be configured and then powered off and installed without a PC connection The disable parameter turns off the specified trigger Condition Configuration Valid parameters when io aolaildo di chan trigger_condition value when setting trigger_condition value when axis setting trigger_condition value Trigger Conditions Equal To Not Equal To lt Less Than gt Greater Than lt Less Than or Equal To gt Greater Than or Equal To The when io parameter sets a trigger to fire when a io type and channel compares to a provided value The available channels for each io type ai ao do di can be queried with the io info command The when setting parameter sets a trigger to fire when a device setting compares to a provided value The when axis setting parameter sets a trigger to fire when a axis setting compares to a provided value The axis parameter indicates the axis number that the set
23. and truncate to a 8 bi return c_sum 0 return true if the message passed checksum verifica Python 54 Appendix A Communication Software Zaber Console Zaber Console is the recommended application for controling Zaber devices on Windows Linux and Mac systems 1 Download the Zaber Console and install it 2 Launch Zaber Console 3 Select the serial port and protocol from the list and click Open 4 Zaber Console will automatically find and list the devices in the chain as shown below 0 Using the Advanced tab text commands can be sent to the device s Appendix A Communication Software 55 PulTY PuTTY a terminal emulator can be used to control Zaber devices in ASCII mode on Windows 1 Download putty 0 62 installer exe from http www chiark greenend org uk sgtatham putty download html and install it 2 Launch PuTTY 3 Under the Terminal category 4 Under the Session category 4 Set the connection type to Serial 4 Set the speed to 9600 Enter the COM port the device s are connected to Typically COM1 if directly connected to PuTTY 4 Set Local echo to Force on 4 Set Local line editing to Force on a Logan abra Ball Peehysiess lat pc Tiarskiien Saaai Egasi gt Connection Dele Py Tanet Rogn SSH Sal casaca snd da a A a computer COM3 if using a USB adapter 4 Enter a connection description Zaber Device Chain
24. ccsssssssessssssssescssescsssssssssessosseees 61 Finding Installed Serial Ports ecien era cacnece a a a aa a d ne oides roinaa 61 a STG WS EE re OPER ES 61 Conventions used throughout this document e Fixed width type indicates ASCII characters communicated to and from a device e The symbol indicates a carriage return which can be achieved by pressing enter when using a terminal program Conventions used throughout this document Quick Start Connecting Zaber A Series devices support connecting to user equipment over standard serial connections using a human readable text based protocol This allows A Series devices to interface with a variety of equipment and software including e Zaber Console e Terminal Emulators e User programs e PLCs e Automation and Instrumentation packages Zaber s range of A Series devices can be up and running in a matter of minutes no matter what environment is being used A Series devices typically communicate over RS232 at 9600 or 115200 baud with 8 bits 1 stop bit and no parity however please refer to the RS232 Communications section of the device specific User Manual for the correct settings Characters are not echoed by the device so if a terminal emulator is being used it is advisable to turn on local echo For detailed instructions on how to set up and configure various communication software please refer to the Communication Software section below Talking to Zaber Devices
25. command such as home or an automatic limit sensor action The sensor is one of home away c or d limit sensor posupdate 46 If an automatic limit sensor action is triggered and this setting is 1 the Unexpected Limit Trigger WL warning flag is set limit sensor type The type of connected sensor Scope Axis Valid Range 0 2 Access Level adv Specifies the type of connected sensor The sensor is one of home away c or d Valid settings are e 0 Disabled No sensor is connected e 1 Active Low When active the sensor outputs a logic low e 2 Active High When active the sensor outputs a logic high limit max The maximum position of the device in microsteps Scope Axis Valid Range 1000000000 1000000000 Access Level norm Use this setting to limit the range of travel to a value other than the default This setting is an alternative name for the limit away pos setting NOTE Exercise caution when modifying this setting since it is possible to set the range to a value greater than the physical limits of the axis limit min The minimum position the device can move to measured in microsteps Scope Axis Valid Range 1000000000 1000000000 Access Level norm The range of travel limit max limit min is axis dependent This setting is an alternative name for the limit home pos setting NOTE Exercise caution when modifying this setting since it is possible to set the range
26. d Scope Axis Valid Range 0 32767 Access Level norm When a movement command is issued the axis will increase and decrease its speed at a rate determined by this setting The actual acceleration is calculated as acce1 10000 1 6384 microsteps sec 2 A value of 0 specifies infinite acceleration To modify only the acceleration or deceleration see the motion accelonly and motion decelonly settings When queried this setting returns the value of the acceleration setting regardless of the deceleration setting Device Settings 35 cloop counts The number of encoder counts for a full revolution Scope Axis Valid Range 1 65535 Access Level adv Specifies the number of encoder counts used for the closed loop mode encoder count to motor step ratio This number is typically 4x the encoder lines per revolution cloop mode The closed loop control mode Scope Axis Valid Range 0 5 Access Level norm Valid settings are e 0 Disabled Encoder input is ignored and the axis behaves as a open loop device e 1 Passive Mode Slip conditions are detected and reported but no position correction is made e 2 Stall Detection Same as passive mode but the axis will also detect and report stall conditions If a stall condition is detected the axis will stop after a stall timeout e 3 Position Correction Default Axis detects reports and recovers from slip conditions Stall conditions are detected and reported
27. d Range 0 32767 Access Level adv When a limit sensor is triggered the axis will slow down to a stop at the rate specified The actual deceleration is calculated as dece1 10000 1 6384 microsteps sec 2 A value of 0 specifies infinite acceleration limit detect maxspeed The maximum speed to be used when moving away from a limit sensor Scope Axis Valid Range 1 resolution 16384 Access Level adv When a limit sensor is triggered the axis will move away from the sensor at the speed specified The actual speed is calculated as maxspeed 1 6384 microsteps sec limit swapinputs Reverses the home and away sensor inputs Scope Axis Valid Range 0 1 Access Level adv Setting to 1 swaps the home and away input pins limit sensor action Automatic limit switch action Scope Axis Valid Range 0 2 Access Level adv Specifies the automatic limit sensor action to be performed when sensor becomes active during axis movement The sensor is one of home away c or d Valid setting are e 0 Disabled No action is performed when this sensor is triggered e Retract Retract to the side of the sensor specified in limit sensor edge e 2 Retract and update current position limit detect decelonly 44 In addition to above the value of limit sensor preset is written to pos The No Reference Position WR warning flag is cleared Sensor is active when limit sensor state is 1 If an automatic limit s
28. e configured and enabled the distance trigger will toggle a digital output channel every interval number of microsteps The trigger can be set up to fire a certain number of times by specifying the count parameter to the enable command otherwise it will fire until disabled The digital output channel that toggles is hard coded for each distance trigger Trigger 1 on a device toggles output 1 trigger 2 toggles output 2 and so on The initial state of the channel can be set using the io set command The distance triggers will conflict with other commands that use the same digital outputs resulting in the state of the line changing arbitrarily Trigger Usage 32 Example Usage Set up the distance trigger 1 on axis 1 to toggle every 1000 microsteps and enable it de trigger time trigger 01 trigger 01 0 OK 0 OK dist 1 1 1000 IDLE 0 dist 1 enable IDLE 0 Toggles a digital output channel at a certain interval Scope Device Parameters number enable count number disable number interval Once configured and enabled the time triggers will toggle the digital outputs every interval milliseconds Each trigger can be set up to fire a certain number of times by specifying the count parameter to the enable command otherwise they will fire until disabled The digital output channel is hard coded where time trigger 1 toggles the last digital output time trigger 2 toggles the sec
29. ecousssesees 16 OSLO ir E AD LALO e datas EA GR DAA ete AA A Ra es ts dk bales cis 16 E REI DEE EA MEA EE AR A AL A AAA AA 16 Mel oa oia 17 A se Ries Bee ak a a Saha Powe aN va SNORE COA eRe Nb ah aa Pla vb Nie BT aa ab Niven bo Ces PREG 18 TO INFO aria iia laica 18 LOD Ob A AN 19 LOSA E e cad ht a EEE RENE A 20 Mn a a en e o e a e 21 MOV id AA A A AAA A AAA A EA AE Et ds dash 21 TWA ALU 1 Ob O AIN 23 Sita idad iia iz 23 O NT 24 A NN 24 SC O ati 25 LOL ECO A A LAA ONO LEB A IA 25 tools findran ges Ais oul A AE ene Bd ee eae 25 LOOMS POLO e NO 26 TOOLS parkih Se gee ee ee a 27 tools SECC OMIM 15 EEEE ETE SEA EEE woossheuse tallados seen 28 TOOLS OTE POS is Seseecdes steel a O Na ainia 28 TLS SORT RAN 29 Condition Cone uration eos sees eal cae welecesetd ccna eE e a AE EE SE aAa ae did india 30 Command Configuration leida anna cine AiO useeddeks vgadebsvedvakansevacadd sua innecesarias 31 Trigger Wagers cscs E ea assed eas TA ed ae eo aie 32 TRIS SSR ISU ye NN 32 TIS NN 33 Table of Contents Command Reference WAUN GS 35 2s eE SORA loop mode en eset e e nate eee Leah a s ites os ee cae cel opstallime t no AAA IE A adi IES CIOOD SLEPS RIN COMM AG AHS St A See E as Re ed See Seles COMMIFALETE 6525s ichecdsbsnesdassdiccasbiacebeadedevuasadanas orcad siacagedletaensaiavicesateccearesnewsaescaceeaseieoeeas COMM CHECK SUT Fy 24545 O COMM PLOlLOCOh scsi wicca dad COMES ZA DAU KOSTEA EE E A AAT T CE AA a E E EAA EASA AN NE E
30. efixed with The Command Reference below covers the contents of the parameters field for the available commands CC Message Checksum Length 3 bytes If provided the device will reject messages that have been corrupted during transmission More information and code examples are provided in the Checksumming section below ff Message Footer Length 1 2 bytes A newline typically achieved by pressing enter or return For convenience the device accepts any ASCII combination of Carriage Return CR r and or Line Feed LF An as a message footer Smallest Command The smallest valid command is just which generates a response from all devices in the chain as demonstrated below 01 0 OK IDLE 0 03 0 OK IDLE 0 02 0 OK IDLE 0 This can be used as a quick way to check that communications and all devices are functioning as expected Replies A reply is sent by the device as soon as it has received a command and determined if it should respond A typical response message and associated fields are 01 0 OK IDLE O nn a fl bbbb ww x CC ff Message Type Length 1 byte This field always contains for a reply message nn Device Address Length 2 bytes This field contains the address of the device sending the reply always formatted as two digits a Axis Number Length 1 byte Commands 10 This field contains the reply scope from 0 to 9 0 indicates that the followin
31. ensor action is triggered and limit sensor triggered is 1 the Unexpected Limit Trigger WL warning flag is set limit sensor edge Specifies the side of the sensor for alignment during limit actions Scope Axis Valid Range 0 1 Access Level adv Specifies the side of the sensor to align with when the sensor is triggered The sensor is one of home away c or d A value of 0 aligns the axis with the positive side of the sensor a value of 1 aligns with the negative side of the sensor The positive and negative directions follow the orientation of the axis position limit sensor pos The updated position of the sensor Scope Axis Valid Range 1000000000 1000000000 Access Level adv Can be updated to the current position of the sensor depending on the setting of limit sensor posupdate The sensor is one of home away c or d The settings limit home pos and limit away pos have alternative names of limit min and limit max respectively These two settings represent the boundary of pos and determine the valid travel range of the axis limit sensor posupdate Specifies how to update the sensor position after an automatic limit switch action Scope Axis Valid Range 0 2 Access Level adv Specifies whether to update the sensor position setting after an automatic limit switch action The sensor is one of home away c or d Valid setting are limit sensor action 45 e 0 Disabled The sensor position i
32. ent The current being drawn by the device and motors pos 49 Scope Device Valid Range 0 5 Access Level norm Read Only system led enable Enables and disables the indicator LEDs Scope Device Valid Range 0 1 Access Level norm Setting to 0 disables all front panel LEDs on the device system temperature The current temperature of the unit in degrees Celsius Scope Device Valid Range 0 150 Access Level norm Read Only Example get system temperature 01 0 OK IDLE 26 8 The device is currently at 26 8 C system voltage The voltage being applied to the device Scope Device Valid Range 10 50 Access Level norm Read Only Example get system voltage 01 0 OK IDLE 47 1 The device is currently receiving 47 1V from the supply version The firmware version of the device Scope Device Valid Range 6 0 6 99 Access Level norm Read Only system current 50 Example usage get version e01 0 OK version IDLE 6 06 51 Checksumming The Longitudinal Redundancy Check LRC is employed This allows corrupted message detection but does not provide error correction Devices will verify a message checksum if it appears in the message Devices will only send checksums if the comm checksum variable is set to 1 e A device will verify the checksum if the 3rd last character of a command excluding footers is a colon e All devices o
33. er is currently at 53 5 C encoder count The position as reported by the axis encoder Scope Axis Valid Range 214783648 214783647 Access Level norm Read Only adv Read Write The encoder count where present Units are arbitrary and dependent on the encoder used encoder dir The direction of encoder count Scope Axis Valid Range 0 1 Access Level adv Inverts the counting direction for the axis encoder encoder filter Enable and set up digital filtering of the encoder inputs Scope Axis Valid Range 0 1 2 4 16 32 64 128 256 Access Level adv A value of 0 disables filtering and any other value proportionally rejects noises while reducing the maximum speed the encoder can update at encoder index count The recorded counts of the axis encoder index pulse Scope Axis Valid Range 32768 32767 Access Level norm Read Only adv Read Write driver temperature 40 For encoders that support an index pulse this setting tracks the number of index pulses received encoder index mode Specifies the operating mode of the encoder index pulse Scope Axis Valid Range 0 1 Access Level adv Valid settings are e 0 Disabled No encoder index is present e 1 Normal Encoder index pulses are counted encoder index phase Specifies the value of the encoder phase for a valid index pulse Scope Axis Valid Range 0 1 Access Level adv When this setting is
34. etting a position 1 1 tools storepos 1 150000 01 1 OK IDLE O Stored position 1 has been set to a position of 150000 microsteps for axis 1 Retrieving a stored position 1 1 tools storepos 1 e01 1 OK IDLE 150000 The stored position 1 has a value of 150000 for axis 1 Moving to a stored position move stored 1 O01 0 OK BUSY 0 get pos 01 0 OK IDLE 150000 O All axes on the device will move to their respective stored position In the example above axis 2 didn t have a value set for position 1 and moved to a position of 0 trigger Configures actions to be performed when an event is triggered Scope Device Parameters info show number enable count number disable number when condition configuration number action act command configuration Triggers allow certain actions to be performed when an event occurs The trigger info command returns four values the number of triggers in the device the number of available actions per trigger the number of time triggers and the number of distance triggers For example tools storepos 29 1 trigger info 01 0 OK IDLE 6 2 2 2 There are 6 triggers in total each with 2 actions that can be performed There are 2 time triggers available and 2 distance triggers available In this case number has a range of 1 6 inclusive and act has a range of a b inclusive The trigger show command returns the state of the device triggers For ex
35. g fields apply to the whole device and all axes on it otherwise the fields apply to the specific axis indicated f1 Reply Flags Length 2 bytes The reply flag indicates 1f the message was accepted or rejected and can have the following values 0 OK The command was valid and accepted by the device 0 RJ The command was rejected The data field of the message will contain one of the following reasons BADCHECKSUM The checksum provided in the command message was incorrect BADDATA The data provided in the command is incorrect or out of range BADCOMMAND The command or setting is incorrect or invalid FAILED Either a The device cannot move because it is currently parked or b The device cannot be parked because it is currently moving DEVICEONLY An axis number was specified when trying to execute a device only command bbbb Device Status Length 4 bytes This field contains BUSY when the axis is moving and IDLE otherwise All movement commands including stop put the axis into the BUSY state while they are being executed ww Warning Flags Length 2 bytes Contains the highest priority warning currently active for the device or axis or under normal conditions A full description of the flags is available in the Warning Flags Section XXX Response Data Length 1 bytes The response for the command executed The contents and format of this field vary depending on
36. h an axis scope specifying an axis number of zero or not including any axis number will both apply the command to all axes on the device If one of the axes is unable to complete the command a BADDATA response will be returned and none of the axes will perform the command For example moving to a position that is outside the range of one axis but within for another axis will result in an error 1 get limit max 01 0 OK IDLE 3038763 6062362 1 move abs 4750000 01 0 RJ IDLE BADDATA Parameters in square brackets e g clr indicate that the parameter is optional Parameters in italics e g value indicate that data typically a number needs to be provided Parameters separated by a pipe e g abslrel indicate that one of the parameters in the set needs to be provided estop Performs an emergency stop on the axis Scope Axis Parameters none The device is forced to zero velocity no control of deceleration is performed Example Usage 1 1 estop 401 1 OK IDLE O get Retrieves the current value of the device or axis setting Command Reference 16 Scope Device and Axis Parameters setting The name of one of the Device Settings See Device Settings for a detailed list or settings and what they do Example Usage Viewing the device id get deviceid 01 0 OK IDLE 20022 Device id is 20022 A LSQ150B Viewing an invalid setting get cloop mode 01 0 RJ IDLE BADCOMMAND cl
37. he same values as comm rs232 baud protocol specifies the desired communication protocol This parameter shares the same values as comm protocol This command sets comm rs232 baud and comm protocol This command sets the Setting Update Pending NU notification flag and replies on the current communication settings Once all communication channels have been quiet for 500 milliseconds the device switches to the new settings and clears the Setting Update Pending NU flag Example Usage Switching RS232 baud rate and protocol tools setcomm 9600 1 01 0 OK IDLE NU O Configures the device to communicate at 9600 baud rate and in Binary protocol tools storepos Stores a number of positions for axes for ease of movement Scope Axis Parameters number position current number is the stored position number to be set or retrieved The valid range is 1 16 position is a valid axis position to move to and must be in the range of limit min to limit max The position defaults to O if not set current specifies that the specified stored position number be set to the current position pos If none of the optional arguments are provided the current value of the stored position number will be returned tools setcomm 28 Example Usage Storing a position 1 1 move abs 74920 1 1 tools storepos 1 current 401 1 OK IDLE 74920 Stores the current position of 74290 microsteps to position number 1 for axis 1 S
38. icular device To see the available settings consult the Device Settings section of the product User Manual or the built in help via 1 help get All the settings listed below are used with the get and set commands to read and change their value All settings that can be modified require an integer value within the valid range Some of the settings may return dotted decimals or multiple values A get command on a setting that applies to an axis where a specific axis number has not been supplied will result in a value being returned for each axis For example on a two axis device 1 get pos 01 0 OK IDLE 10000 15000 Similarly configuring an axis setting without specifying an axis number will result in the value being applied to all axes on the device For example on a two axis device 1 set maxspeed 75000 401 0 OK IDLE 0 1 get maxspeed 01 0 OK IDLE 75000 75000 If the specified value is outside the valid range for any axis none of the axes will be set and a BADDATA reply will be returned Settings labelled Read Only cannot be configured and will reply with a BADCOMMAND error if the set command is used with them Configuring a setting with a value outside of its specified range will result in a BADDATA reply For the default values of the settings please refer to the Device and Peripheral Pages for firmware 6 accel Determines the acceleration and deceleration used when changing spee
39. imit min pos limit max pos vel moves the axis at the velocity specified by value until a limit is reached Value must be in the range resolution 16384 resolution 16384 min moves the axis to the minimum position as specified by limit min max moves the axis to the maximum position as specified by limit max stored moves the axis to a previously stored position number specifies the stored position number from 1 16 Refer to the tools storepos command for more information Example Usage Move all axes on the device forward by 200000 microsteps move rel 200000 01 0 OK BUSY 0 No reference point move rel 2000000 01 0 RJ IDLE WR BADDATA The WR flag indicates that there is no reference point and the axis has not been homed Sending the home command will allow the move command to succeed Invalid position get limit max 01 0 OK IDLE 305381 move abs 305888 01 0 RJ IDLE BADDATA A bad data rejection was received because the position specified is beyond the range of the axis Parked move abs 10000 01 0 RJ IDLE FAILED Axes cannot be moved when the device is parked Either unpark or home it move 22 renumber Renumbers a device Scope Device Parameters value The new device number will be value which defaults to 1 if not provided Value must be in the range 1 99 Example Usage Renumbering all devices in the chain renumber
40. is either idle or executing a manual control movement NU Setting Update Pending A setting is pending to be updated This warning is cleared automatically once the settings have been updated E CI To see and clear all current warnings use the warnings command Warning Flags 12 Info This message type contains extra information from the device for testing debugging programming purposes One or more info messages can follow a reply or alert message This message type is designed to be read by the user and to be ignored by software A typical info message and its fields are 01 0 Visit www zaber com support for complete instruction manuals nn a XXXXXXXXXXXXX CC ff Message Type Length 1 byte This field always contains for an info message nn Device Address Length 2 bytes This field contains the address of the device sending the reply always formatted as two digits a Axis number Length 1 byte Always 0 for info messages xxx Data Length 1 bytes The data for the info message typically human readable text CC Message Checksum Length 3 bytes A device will append a checksum to all info messages if the comm checksum setting is configured to 1 More information and code examples are provided in the Checksumming section below ff Message Footer Length 2 bytes This field always contains a CR LF combination r n for a info message The common occurrence of info mess
41. l Users and Grains 44 Performan Logs and Alar Mi o y TE Sale peat E e i bie and aer contadas Em CES el rece ihig Part PT JEB Se al Part OGP Sound ike anil geme eantiakis System dedos gt Lhiversal Ser a a Bis contialgis 4 In this example there is one serial port installed COM1 sich isa USB labio Linux 1 Finding devices Open a terminal and execute the following command Appendix B Available Serial Ports 61 dmesg grep E ttyU S The response will be similar to the following 16550A 2 432572 00 07 ttySO at 1 0 0x3f8 irg 2 468149 0000 00 03 3 ttyS4 at I O Oxec98 16550A 13 514432 usb 7 2 FTDI USB Serial Device attached to ttyUSBO 2 029214 serial8250 ttyS0 at I O 0x3f8 irq 4 is a 4 is a 16550A irg 17 is a converter now This shows that there are 3 serial ports available ttySO ttyS4 and ttyUSBO a USB adaptor 2 Checking port permissions Using the ports found above execute the following command ls 1 dev tty S0 S4 USBO The permissions given below show that a user has to be root or a member of the dialout group to be able to access these devices crw rw 1 root dialout 4 64 Oct 31 06 44 crw rw 1 root dialout 4 68 Oct 31 06 45 crw rw 1 root dialout 188 0 Oct 31 07 58 3 Checking group membership Windows groups The output will be similar to
42. lltimeout Axis pee in milliseconds The number of full steps required for the motor to complete one cloop steps Axis Yes revolution ea Yes The device address comm niae The device will send alert messages when this setting is 1 The device includes checksums in its messages if this setting is set to 1 comm protocol Device Yes The communications protocol used by the device Quick Commands 6 comm checksum Device Yes comm rs232 baud Device Yes The baud rate used by RS232 communications deviceid i The device id for the unit Current used to hold the motor in position as a percentage of maximum driver currentrun Axis Yes Current used to drive the motor as percentage of maximum driverdir Axis Yes Reverse the motor driver output direction driver temperature Axis No The current temperature of the axis driver in degrees Celsius encoder count Axis The recorded counts of the axis encoder driver current hold encoder dir Axis Inverts the counting direction for the axis encoder encoder filter Axis Yes Enable and set up digital filtering of the encoder inputs encoder index count Axis Yes The recorded counts of the axis encoder index pulse encoder index mode Axis Yes The operating mode of the axis encoder index signal encoder index phase Axis Yes The required phase for an index pulse to be counted Yes The operating mode of the axis encoder knob dir dir Axis Yes Sets the moveme
43. n a 1 move rel 10000 01 0 OK IDLE O When trigger 1 fires axis 1 of the device will move forward 10000 microsteps as the first action Toggle a digital output line 1 trigger 1 action b io do 1 toggle 01 0 OK IDLE O When trigger 1 fires the device will toggle the state of digital output 1 as the second action Condition Configuration 31 Trigger Usage The following examples demonstrate how to use the various trigger commands to perform actions Stopping when a digital input activates The following commands will stop axis 1 when digital input 1 activates 1 trigger 1 when io di 1 1 1 trigger 1 action a 1 stop 1 trigger 1 action b 1 stoplf the second action is also stop the device will perform an emergency stop 1 trigger 1 enable Cycling back and forth The following commands will cycle axis 1 between O and 100000 microsteps The maximum speed is adjusted so that forward travel is twice as fast as backwards travel 1 trigger 1 when 1 pos 0 1 trigger 1 action a 1 move abs 100000 1 trigger 1 action b 1 maxspeed 150000 1 trigger 2 when 1 pos 100000 1 trigger 2 action a 1 move abs 0 1 trigger 2 action b 1 maxspeed 75000 1 trigger 1 enable 1 trigger 2 enable trigger dist Toggles a digital output channel when the axis travels a certain number of microsteps Scope Device Parameters number enable count number disable number axis interval Onc
44. n a chain will send a rejection reply if a command message fails checksum verification regardless of message address and content e The colon is a reserved character for checksum indication and should not appear in the message data e The checksum is repesented as 2 hexadecimal characters which are case insensitive e The checksum is calculated from the first byte after the message type The leading gt lt of the message is ignored For example if the message is 01 tools echo the checksum is FE AO te B28 AVG ode A es LLI 08 FALLS 32 A LOL F 9904 104 LLE OxFF 1 1137 OxFF OxFF 1 143 0x8F and the final message is 01 tools echo 8F r n Verification To verify a message checksum the 8 bit sum of all the bytes in the message is calculated and added to the transmitted checksum which has been converted to an integer The message is valid when the 8 bit result of the sum is zero The colon in the message is only used as a seperator and is otherwise ignored Using the example above 1137 Ox8F amp OxFF 0 Example Code The following examples show how to calculate a message checksum and verify a received message in several languages C Calculating a checksum define CSUM_NOTPRESENT 2 Checksumming 52 define CSUM_NOSPAC define CSUM_FAIL 0 define CSUM_OK 1 5 int csum_message char message unsigned int max_length unsigned char c_sum 0
45. n firmware nathan Welcome to minicom 2 5 Serial Device dev ttyUSBO Lockfile Location var lock Callin Program Callout Program Bps Par Bits 9600 8N1 Hardware Flow Control No Software Flow Control No oO7n7nmonapyp oe Change which setting Screen and keyboard Save setup as dfl Save setup as CTRL A Z for help 9600 8N1 NOR Minicom 2 5 vT102 Offline f 4 Select Modem and dialing 0 Clear out the Init and Reset strings option A B 0 Press Enter to go back to the configuration menu Minicom 58 nathan firmware nathan Init string Reset string Dialing prefix Dialing suffix Dialing prefix Dialing suffix Dialing preftx Dialing suffix Connect string No connect strings Hang up string Dial cancel string Dial time Delay before redial Number of tries ATDT AM ATOP AM ATX1DT X4D M CONNECT NO CARRIER NO DIALTONE ttt ATH K M Auto bps detect o No Modem has DCD line Yes Status line shows Multi line untag Return or Esc to exit DTE speed No 4 Select Screen and keyboard 0 Set Local echo Q to Yes Q Press Enter to vo back to the configuration menu e nathan firmware nathan Welcome to min OPTIONS I18n Compiled on Ma Port dev ttyu Press CTRL A Z rAumntToananmono gt gt Cha Command key is s A Backspace key sends
46. nt direction for the knob ena Axis ee Sets how far the device moves with each step of the knob in displacement mode in units of microsteps knob enable Axis Yes Disable the use of the knob when set to 0 Yes The maximum speed that can be reached using the knob in velocity mode Yes Sets the mode of the knob 0 for velocity mode 1 for A displacement mode knob speedprofile Axis Yes ae A profile to be used per increment when in velocity limit approach accel Axis Acceleration used when approaching a limit sensor limit approach maxspeed Axis Maximum speed used when approaching a limit sensor Deceleration used when stopping after a limit sensor has limit detect decelonly Axis Yes h Pping triggered limit detect maxspeed Axis Yes Maximum speed used when moving away from a limit sensor a a i Reverses the limit positions by swapping the home and awa limit swapinputs Axis Yes bora p y pping y limit home edge Axis limit home preset ype Yes The type of home sensor connected y action Axis Yes Automatic limit switch action limit away edge pe Ess Sensor edge to align action to limit away posupdate ina Yes Position update to occur when sensor is triggered y preset Axis Yes The default position of the away sensor e Axis No The state of the home sensor Quick Device Settings 7 limit away triggered Axis No Whether the away sensor has been triggered previously limit away type Axis Yes The type of away
47. of the flags is available in the Warning Flags Section CC Message Checksum Length 3 bytes A device will append a checksum to all alert messages if the comm checksum setting is configured to 1 More information and code examples are provided in the Checksumming section below ff Message Footer Length 2 bytes This field always contains a CR LF combination r n for an alert message Multi axis Alerts On a multi axis device with completion alerts enabled an alert will be generated each time an axis stops In the example below axis 2 is closer to it s maximum position than axis 1 is move max 401 0 OK BUSY 0 OL 2 IDLE Alerts 14 101 1 IDLE The first alert is generated when axis 2 stops but as one axis is still moving the overall status is still busy The second alert is generated when axis 1 stops and as none of the axes on the device are moving the overall status is idle Alerts 15 Command Reference The following section details all commands that are available in the ASCII protocol For specific device support of a command please refer to that device s User Manual For commands with a device scope specifying an axis number other than zero in the command will result in a DEVICEONLY error as shown below 1 tools parking park 01 0 OK IDLE 0 1 0 tools parking park 01 0 OK IDLE 0 1 1 tools parking park 01 1 RJ IDLE DEVICEONLY For commands wit
48. ond last output and so on The initial state of the channel can be set using the io set command The time triggers will conflict with other commands that use the same digital output resulting in the state of the line changing arbitrarily Example Usage Set up time trigger 1 to toggle every 250ms 2Hz output rate for 60 seconds 60 0 25 240 counts and enable it trigger 1 0 OK trigger 1 0 OK warnings time 1 250 1D El time 1 enable 240 1D Bo 0 Displays the active warnings for the device and axes Scope Axis Parameters clear trigger dist 33 Warnings prints out a 2 digit count of active warnings and then all the active warning flags as described in Warning Flags above If this is sent to all axes on a device the active warnings across all the axes will be displayed otherwise only the warnings for the specified axis will be displayed If the optional parameter clear is given all the clearable warnings are reset Example Usage Normal response 1 warnings 01 0 OK IDLE 00 No warnings are active on the device Axis warnings 1 2 warnings 401 2 OK IDLE FS 03 FS WD WR There are 3 warnings active on axis 2 A stall fault a displacement warning and a invalid reference warning warnings 34 Device Settings The following section covers all device settings that are available in the ASCII protocol as such some of these settings may not be available for a part
49. oop mode is only valid on devices with encoders and this device does not have one Attempting to read an invalid setting results ina BADCOMMAND rejection reply help Displays the built in help Scope Device Parameters commands reply warnflags enumscommand commands list Displays the help information for the system commands and replies or a specific command as applicable This command will always return a successful reply and the help information will be returned in info messages help warnflags displays information about the warning flags that can be present in a reply help commands list can be used to list all supported commands and settings of the device As the built in help is specific to each device a device number is required when sending the command Issuing a help command without a device number will result in each device in the chain requesting that a device number be specified as shown below help 401 0 OK IDLE 0 01 0 Please provide a device address for querying help get 17 02 0 OK IDLE 0 02 0 Please provide a device address for querying help Example Usage View the built in help for the estop command 1 help estop 401 0 OK IDLE O 01 0 estop Emergency stop Help for an invalid command returns successfully 1 help dlkjsfbi 01 0 OK IDLE O 01 0 No help found home Moves the axis to the home position Scope Axis Parameters none
50. ope Axis Valid Range 0 1 knob dir 42 Access Level norm Valid Settings e 0 Velocity mode The knob controls the velocity of the axis varying for the amount turned Velocity mode is defined by knob speedprofile and knob maxspeed setting e Displacement mode Each step of the knob moves the axis a specific distance as indicated by the knob distance setting knob speedprofile Velocity increment profile Scope Axis Valid Range 3 Access Level norm Sets the profile to be used per increment when in velocity mode Valid settings are e 1 Linear e 2 Quadratic e 3 Cubic limit approach accel The acceleration to be used when approaching a limit sensor Scope Axis Valid Range 0 32767 Access Level adv When approaching a limit sensor the axis will accelerate to Limit approach maxspeed at the rate specified The actual acceleration is calculated as acce1 10000 1 6384 microsteps sec 2 A value of 0 specifies infinite acceleration limit approach maxspeed The maximum speed to be used when approaching a limit sensor Scope Axis Valid Range 1 resolution 16384 Access Level adv When approaching a limit sensor the axis will travel at the lesser of limit approach maxspeed and maxspeed The actual speed is calculated as maxspeed 1 6384 microsteps sec knob mode 43 limit detect decelonly The deceleration to be used when a limit sensor has been triggered Scope Axis Vali
51. rameter s to Axis 0 Performs an emergency stop on the axis Device and Retrieves the current value of the device or setting value Axis axis setting commands Displays the help information for the Dev reply system command home Axis Pe Moves the axis to the home position Ded Returns the number of I O channels the io info Device ailaoldoldi orts device has Device ailaoldbldi channel eae Returns the current value of the specified I O channel type ao channel value Device do channel value 0 Sets the specified output channel to value do port value value2 Device Repeats the last command Moves the axis to various positions along its travel Moves the axis to the limits of travel move abslrellvel value move Axis minimax Moves the axis to a previously stored stored number ae position renumber Device set Device and setting value rar Axi 8 stop axis system reset Device 0 Sets the device or axis setting setting to the value Decelerates the axis and brings it to a halt ice is is is is Renumbers all devices in the chain Built in Help 5 Resets the device as it would appear after power up Restores common device settings to their Device default values Echoes the provided message if any back Device message p Be y to the user tools Uses the home and away sensors to set the fi Axis findrange valid range of the axis oe pos
52. s not updated e Set to current The current position pos is written to limit sensor pos for this session only e 2 Set to current and save The current position pos is written to limit sensor pos The value of limit sensor pos is saved to non volatile memory and persists over power cycle The sensor position is updated after the automatic limit sensor action has been carried out This setting has no effect if automatic limit sensor action is disabled limit sensor action is 0 Disabled If sensor is one of home or away this mechanism affects the valid travel range of the axis See limit min and limit max limit sensor preset The default position of the sensor Scope Axis Valid Range 1000000000 1000000000 Access Level adv Specifies the default position of the sensor which can be used to update the current position depending on the limit sensor action setting The sensor is one of home away c or d limit sensor state The current state of the sensor Scope Axis Valid Range 0 1 Access Level adv Read Only This setting is 1 when the sensor is active and 0 otherwise The sensor is one of home away c or d If limit sensor type is 0 Disabled this setting is always 0 limit sensor triggered Whether the sensor has been triggered previously Scope Axis Valid Range 0 1 Access Level adv Read Only This setting is set to O at start up The setting is set to 1 after a limit sensor
53. sensor connected limit c action Axis Yes Automatic limit switch action limit c edge Axis Yes Sensor edge to align action to limit c pos Axis Yes The updated position of the sensor when triggered limit c posupdate Axis Yes Position update to occur when sensor is triggered limit c preset Axis Yes The default position of the c limit sensor limit c state Axis No The state of the c limit sensor limit c triggered Axis No Whether the c limit sensor has been triggered previously limitctype Axis Yes The type of c limit sensor connected la d action Axis Yes Automatic limit switch action limit d edge Axis Yes Sensor edge to align action to limit d pos Axis Yes The updated position of the sensor when triggered limit d posupdate Axis Yes Position update to occur when sensor is triggered Yes The default position of the d limit sensor ERA d state Axis The state of the d limit sensor PEI d triggered Axis Whether the d limit sensor has been triggered previously limit d type limitdtype t Axis Yes The type of d limit sensor connected The maximum position the device can move to measured in limit max Axis Yes y microsteps The minimum position the device can move to measured in microsteps The maximum speed the device moves at motion accelonly Axis Yes Sets the acceleration used to increase the speed motion decelonly Axis Yes Sets the deceleration used when decreasing the speed peripheralid
54. ss 5 05 0 OK IDLE O comm alert Alert Messages Scope Device Valid Range 0 1 Access Level norm The device sends Alert messages when this setting is 1 comm checksum Send message checksums Scope Device Valid Range 0 1 cloop stalltimeout 37 Access Level norm The device includes checksums in its messages if this setting is 1 comm protocol The communications protocol used by the device Scope Device Valid Range 2 Access Level norm Valid settings are e Binary Only Legacy T Series binary protocol only e 2 ASCII Only A Series ASCII protocol only When writing to this setting the device raises the Setting Update Pending NU notification flag and replies in the current protocol Once all communication channels have been quiet for 500 milliseconds the device switches to the new protocol and clears the Setting Update Pending NU flag To set protocol and RS232 baud rate at the same time use the tools setcomm command comm rs232 baud The baud rate used by RS232 communications Scope Device Valid Range 9600 115200 Access Level norm Valid Settings e 9600 e 19200 e 38400 e 57600 e 115200 All other serial parameters are 8 bits 1 stop bit No parity and no flow control When writing to this setting the device raises the Setting Update Pending NU notification flag and replies in the current baud rate Once all communication channels ha
55. the Making it Move example above and that multiple responses were received While this is a handy feature for initial setup general use requires a way to instruct only an individual device to move Devices can be addressed by including their device number before the command For example the following command instructs only device 1 to move 1 move abs 10000 01 0 OK BUSY O The valid device addresses are from 1 99 inclusive and can include a leading zero for devices 1 9 For example either 01 or 1 would both refer to device 1 Talking to an Individual Axis On multi axis devices all the commands shown above would have affected all axes in the device In order to get only a single axis to move an axis number has to be provided after the device number The following command would instruct the first axis on a device to move to position 10000 1 1 move abs 10000 01 1 OK BUSY 0 Note that this time the response scope is 1 indicating that the following information applies to axis 1 Valid axis numbers are 0 9 inclusive where 0 means all axis of the device depending on the command or setting Built in Help All Zaber A Series devices feature built in help providing a quick and easy reference for all Commands and Settings that the device has Help commands require a device number to be provided For example to access the built in help for device 1 send 1 help The device will respond with a detailed description on ho
56. the following dev ttyS0 dev ttyS4 dev ttyUSBO adm cdrom sudo dip plugdev users lpadmin sambashare Notice that dialout is not in the list A user can be added to the dialout group with the following command sudo adduser SUSER dialout Group membership will not take effect until the next logon 62
57. therwise motion commands may respond with a rejection reply or behave unexpectedly tools gotolimit Moves the axis to a limit sensor and performs the provided actions Scope Axis Parameters sensor direction action update sensor specifies one of the limit switches to move to Can be one of home away c or d direction specifies the travel direction to the sensor Can be one of pos or neg for a positive or negative direction of travel respectively action specifies the action to perform when the sensor is triggered This parameter shares the same values and effects as the limit sensor action setting except that it cannot be O Disabled update how to update the sensor position setting This parameter shares the same values and effects as the limit sensor posupdate setting This command moves the axis in the direction specified and waits for sensor to trigger The axis will then align itself to the sensor edge specified by limit sensor edge and perform the limit switch action and position update specified by action and update limit sensor triggered is set to 1 If actionis 2 Retract and update current position the No Reference Position WR warning flag is cleared The automatic action settings as specified in limit sensor action and limit sensor posupdate are ignored Example Usage Go home and reset the current position tools findrange 26 tools gotolimit home neg 2 0 ROT 0 OK BUSY O Equivalent to the home command
58. ting applies to trigger 30 Example Usage Triggering when an analog input exceeds a set voltage 1 trigger 1 when io ai 2 gt 7 5 01 0 OK IDLE O Trigger 1 will fire when analog input 2 exceeds 7 5 volts Triggering when an axis position exceeds a value 1 trigger 1 when 1 pos gt 750000 01 0 OK IDLE O Trigger 1 will fire when the position of axis 1 hits or exceeds 750000 microsteps Command Configuration Valid parameters action act none action act io do chan toggle value action act axis stop move value action act axis setting value The action none parameter removes the specified action from the trigger The action io parameter sets a io digital output channel to the specified value or toggles it The available channels for each io type ai ao do di can be queried with the io info command The action stop move parameter stops or performs one of the move commands on the specified axis The action setting parameter adjusts a setting for the specified axis The setting can be configured to a certain value using the option or incremented by a set amount using the option NOTE No range checking or validity is performed on any of the value parameters It is up to the user to ensure that the provided value is always valid otherwise the trigger will fail to carry out the desired action under certain conditions Example Usage Moving to a position 1 trigger 1 actio
59. tion A typical command message and associated fields are 1 1 move abs 10000 n a XXxXx yyy yyyyy CC ff Message Type Length 1 byte The message type for a command is always This field and the footer are the only required fields all others are optional n Device Address Length 1 bytes The address indicates which device number should perform the command The address is optional and 1f left out or set to zero the command is executed by all devices on the chain Device addresses range from 1 99 inclusive Examples of acceptable addresses are 0 00 1 01 000001 76 99 0x00 0x01 Ox5A Ox5a Invalid addresses include 100 1 0x65 The addresses are out of range and while the message may be valid no device will respond a Axis Number Length 1 bytes The axis number indicates which axis within a device should perform the command The axis number is optional and if left out or set to zero the command is executed by all axes in the device Axis numbers range from 0 9 inclusive XXXX Command Length Variable Message data containing command information The contents are space delimited Message Format 9 The Command Reference below covers the available commands yyy Command Parameters Length Variable Message data containing command parameters and data the contents are space delimited Numerical values can be in decimal or hexadecimal when prefixed with 0x Negative decimal values are pr
60. to a value greater than the physical limits of the axis limit sensor triggered 47 maxspeed The maximum speed the axis moves at Scope Axis Valid Range 1 resolution 16384 Access Level norm When a movement command is issued the axis will move at a speed determined by this setting The actual speed is calculated as speed 1 6384 microsteps sec motion accelonly Determines the acceleration used when increasing the speed Scope Axis Valid Range 0 32767 Access Level norm When a movement command is issued the axis will accelerate up to the maximum speed at a rate determined by this setting The actual acceleration is calculated as acce1 10000 1 6384 microsteps sec 2 A value of O specifies infinite acceleration motion decelonly Sets the deceleration used when slowing down Scope Axis Valid Range 0 32767 Access Level norm When a movement command is issued the axis will decelerate at a rate determined by this setting The actual deceleration is calculated as dece1 10000 1 6384 microsteps sec 2 A value of 0 specifies infinite acceleration peripheralid The ID of the Zaber peripheral connected to a controller Scope Axis Valid Range Any of the values listed at Zaber Support Peripheral IDs or 0 Access Level norm All Zaber peripheral IDs are specified at Zaber Support Peripheral IDs pos The current absolute position of the axis in microsteps maxspeed 48 Scope Axis V
61. ve been quiet for 500 milliseconds the device switches to the new baud rate and clears the Setting Update Pending NU flag To set RS232 baud rate and protocol at the same time use the tools setcomm command comm checksum 38 deviceid The device id for the unit Scope Device Valid Range Any value defined at Zaber Support Device IDs Access Level norm Read Only The id specifying the model of the Zaber device Each device and its associated id number is listed at Zaber Support Device IDs driver current hold Current used to hold the motor in position Scope Axis Valid Range 0 100 Access Level norm The hold current is applied when the axis is not in motion The value of this settings is a percentage of the maximum drive current of the axis 2 5A typically for A Series devices driver current run Current used to drive the motor Scope Axis Valid Range 0 100 Access Level norm The value of this setting is a percentage of the maximum drive current of the axis 2 5A typically for A Series devices driver dir The direction of motor driver output Scope Axis Valid Range 0 1 Access Level adv Inverts the output direction of the motor driver driver temperature The current temperature of driver in degrees Celsius deviceid 39 Scope Axis Valid Range 0 150 Access Level norm Read Only Example 1 1 get driver temperature 001 1 OK IDLE 53 5 The driv
62. w to access specific information about commands and replies as shown below 1 help 01 0 OK IDLE WR O 01 O COMMAND USAGE 01 0 stop stop all devices 010 1 stop stop device number 1 010 1 2 stop stop device number 1 axis number 2 01 0 01 0 Type help commands for a list of all top level commands 01 0 Type help reply for a quick reference on reply messages 01 0 Visit www zaber com support for complete instruction manuals Changing a Device Setting 4 Note that you can view a list of all the top level commands available to device 1 by using 1 help commands To access help for a specific command for example the move command send 1 help move 01 0 OK IDLE 0 01 0 move abs x Move to absolute position 01 0 move rel x Move by relative position 01 0 move vel x Move at constant velocity 01 0 move min Move to minimum position 01 0 move max Move to maximum position Quick Command Reference The following table offers a quick command and setting reference for ASCII devices For more detailed information refer to the Command Reference or Device Settings below Quick Commands Parameters in square brackets e g clr indicate that the parameter is optional Parameters in italics e g value indicate that data typically a number needs to be provided Parameters separated by a pipe e g abslrel indicate that one of the parameters in the set need to be provided Command Pa

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