A-MCB2 Product User`s Manual Firmware 5.00 and up Last Update
Contents
1. accel Axis Yes 6 06 Sets the acceleration used to modify the speed The number of counts generated by the encoder Cloop counts ARIE hee ener for one full revolution a Axis Yes 6 174 Direct reading encoder fine correction attempt c oop duranon max duration cloop mode Axis Yes 6 06 Sets the closed loop control mode cloop stalltimeout Axis Yes 6 06 ehe PPUT ortine to wan ater ue stall displacement condition in milliseconds y The number of full steps required for the motor cloop steps pee ES noo to complete one revolution comm address Device Yes 6 06 The device address tale Device Yes 6 06 The device will send alert messages when this setting is 1 ahead heck Device Yes 6 06 The device includes checksums in its messages A eee if this setting is set to 1 Canam Riot Device Yes 6 06 The communications protocol used by the device on the current interface comm rs232 baud Device Yes 6 06 The baud rate used by RS232 Prev and Next DOES interfaces comm rs232 protocol Device Yes 6 09 oe protaco ised Dy Seca Pupa NEA interfaces comm rs485 baud Device Yes 6 09 The baud rate used by RS485 interface comm rs485 enable Device Yes 6 09 Enables the RS485 interface comm rs485 protocol Device Yes 6 09 The protocol used by RS485 interface comm usb protocol Device Yes 6 09 The protocol used by the usb interface deviceid Device No 6 06 The device id for the unit AS Axis2. 1 home T 1 1 move rel 10000 T 21 10000 The parameter of 10000 in the move command above specifies 10000 microsteps To see the microstep size default resolution for the peripheral and how it translates to displacement first go to the product overview page find your device click through to the device s webpage and click on the Series Specs tab The microstep size default resolution will be shown in the list of product specs either in the Group Specifications section or the Comparison section Daisy Chaining Devices Multiple devices can be connected together in a chain through the Prev and Next or USB and Next connectors This allows any number of devices to be controlled from a single connection to a computer reducing cabling demands A power supply needs to be connected to each device in the chain Whenever a device is added or removed from a chain a renumber T 2 command should be sent to prevent device address conflicts Installation 10 TOPC TO NEXT S DC06 TOPC T DSUB9 TO NEXT Zaber recommends having two separate chains when the connector types differ To daisy chain devices with different connectors the following steps should be followed e DSUB9 and MiniDin 6 with firmware version at or below 6 05 Binary Protocol Chain The DSUB9 devices comm protocol T 123 should be set to 1 Binary and the comm rs232 baud T 122 set to 9600 The DSUB9 devices should be chained together c
3. settings Other movement commands When device has been homed The device will move at the speed specified by the maxspeed T 42 setting Trajectory Control and Behaviour 17 Quick Command Reference A Series devices ship with either the ASCII or Binary protocol enabled by default Please refer to the RS232 Communications section above to see the default protocol for the A MCB2 ASCII Protocol The following table offers a quick command and setting reference for the A MCB2 Follow the links to view a detailed description of each instruction or refer to the ASCII Protocol Manual Quick Commands Parameters in square brackets e g clr indicate that the parameter is optional Parameters in italics e g value indicate that data typically a number needs to be provided Parameters separated by a pipe e g abslrel indicate that one of the parameters in the set need to be provided Quick Command Reference Command Scope Parameter s Returns oe eats Description Versions Instantly stops motorized estop Axis 0 6 06 AAE D Device k aa 6 06 Retrieves the current value of se and Axis 8 peo i the device or axis setting commands hel Device reply 0 6 06 Displays the help information pep for the system command Here Axis 0 6 06 Moves the axis to the home ee re osition ae Returns the number of I O io info Device _ ailaoldoldi ports 6 06 ancla
4. Contact Information 32 Appendix A Available Communications Ports Finding Installed Serial Ports Windows 1 Right click on Computer or My Computer and select Manage Map Network Drive Disconnect Network Drive Create Shortcut Delete Rename Properties 2 Select Device Manager from the Computer Management list 3 Expand the Ports COM amp LPT category A File Action view Window Help FE aj x e Am Eea em A SA M WIN NATHAN 1 Computer Management Local B amp System Tools E a Batteries E a Event Viewer fy Computer El Shared Folders Ge Disk drives E Z Local Users and Groups El 2 Display adapters E Performance Logs and Alert 3 DYD CD ROM drives E Device Manager H E Human Interface Devices Sy Storage H IDE ATA ATAPI controllers Ej Removable Storage H 5 Keyboards Disk Defragmenter W 5 Mice and other pointing devices 69 Disk Management El a Monitors E Sa Services and Applications i Network adapters Y Printer Port LPT1 4 USB Serial Port COM1 Sound video and game controllers EH System devices Universal Serial Bus controllers In this example there is one serial port installed COM1 which is a USB adaptor A Linux 1 Finding devices Open a terminal and execute the following command dmesg grep E ttyU S The response will be similar to the following 2 029214 serial8250 ttyS0 at
5. I O 0x3f8 irq 4 is a 16550A 2 432572 00 07 ttySO at I O 0x3f8 irq 4 is a 16550A 2 468149 0000 00 03 3 ttyS4 at I O Oxec98 irq 17 is a 16550A 13 514432 usb 7 2 FTDI USB Serial Device converter now attached to ttyUSBO This shows that there are 3 serial ports available ttySO ttyS4 and ttyUSBO a USB adaptor Appendix A Available Communications Ports 33 Linux 2 Checking port permissions Using the ports found above execute the following command ls 1 dev tty S0 S4 USBO The permissions given below show that a user has to be root or a member of the dialout group to be able to access these devices crw rw 1 root dialout 4 64 Oct 31 06 44 dev ttyS0 crw rw 1 root dialout 4 68 Oct 31 06 45 dev ttyS4 crw rw 1 root dialout 188 0 Oct 31 07 58 dev ttyUSBO 3 Checking group membership groups The output will be similar to the following adm cdrom sudo dip plugdev users lpadmin sambashare Notice that dialout is not in the list 4 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 34 Appendix B USB Driver Installation Integrated USB on a Zaber Controller Compatible Devices The following Zaber controllers include a USB 2 0 Type B port e X MCB1 e X MCB2 e A MCB2 When connected and configured follo
6. Input Resolution 2D Primitives Supported 5 V Power Out Current Rating Analog Inputs Value Alternate Unit RS 232 RS 485 USB 2 0 Zaber ASCII Default Zaber Binary motor and supply voltage dependent mA 24 48 VDC Screw Terminal 2500 mA D Sub 15 female 1 64 of a step D Sub 9 USB B Buchanan 4 pin 3 5 mm Indexed knobs with push switches 2 Power Error Motor 1 Encoder 1 Motor 2 Encoder 2 0 to 50 degrees C Yes Yes 0 533 kg 4 4 4 4 0 10 V 0 0125 V Lines Arcs Circles Total 200 mA 45
7. Set Alias Number Return Device Id Binary Protocol Command Command Data 0 Ignored 1 Ignored 2 Ignored 5 Register Address 6 Register Address 7 Data 8 n a 9 n a 10 n a 11 n a 12 n a 13 n a 16 Address 17 Address 18 Address 20 Absolute Position 21 Relative Position 22 Speed 23 Ignored 36 Peripheral Id 37 Microsteps 38 Value 39 Value 40 Mode 41 Speed 42 Speed 43 Acceleration 44 Range 45 New Position 47 Offset 48 Alias Number 50 Ignored Command Type Command Command Command Command Setting Command Reply Reply Reply Reply Reply Reply Command Command Command Command Command Command Command Command Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Reply Data None Final position in this case 0 Device Id Data Register Address Data Tracking Position Final Position Tracking Position Final Position Tracking Position Final Position Address Stored Position Final Position Final Position Final Position Speed Final Position Peripheral Id Microsteps Value Value Mode Speed Speed Acceleration Range New Position Offset Alias Number Device Id 23 Return Firmware Version Return Power Supply Voltage Return Setting Return Status Echo Data Return Firmware Build Return Current Position Return Serial Number Set Park State Set Peripheral Id Set Auto Reply Disabled Mode Set Message Id Mode Set Home
8. Status Set Home Sensor Type Set Auto Home Disabled Mode Set Minimum Position Set Knob Disabled Mode Set Knob Direction Set Knob Movement Mode Set Knob Jog Size Set Knob Velocity Scale Set Knob Velocity Profile Set Acceleration Only Set Deceleration Only Set Move Tracking Mode Set Manual Move Tracking Disabled Mode Set Move Tracking Period Set Closed Loop Mode Set Slip Tracking Period Set Stall Timeout Set Device Direction Set Baud Rate Set Protocol Convert To Ascii Error Binary Protocol 51 52 53 54 55 56 60 63 65 66 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 255 Ignored Ignored Setting Number Ignored Data Ignored Ignored Ignored Park State Peripheral Id Auto Reply Mode Message Id Mode Home Status Home Sensor Type Auto Home Disabled Mode Minimum Position Knob Disabled Mode Direction Movement Mode Jog Size Velocity Scale Velocity Profile Acceleration Deceleration Tracking Mode Tracking Mode Tracking Period Closed Loop Mode Tracking Period Timeout Direction Baud Rate Protocol Baud Rate n a Read Only Setting Read Only Setting Read Only Setting Command Read Only Setting Command Read Only Setting Read Only Setting Read Only Setting Setting Setting Setting Setting Setting Setting Setting Sett
9. Yes 6 06 Current used to hold the motor in position in 25 PEA mA units e Axis No 6 16 Maximum legal value of driver current hold and PSA driver current run driver current run Axis Yes 6 06 Current used to drive the motor in 25 mA units driver dir Axis Yes 6 06 Reverse the motor driver output direction e Axis No 6 06 The current temperature of the axis driver in ER degrees Celsius encoder count Axis Yes 6 06 The recorded counts of the axis encoder eer Te Axis Yes 6 06 Inverts the counting direction for the axis DEA encoder encoder error Axis No 6 17 Position error measured by encoder sica Axis Yes 6 06 Enable and set up digital filtering of the encoder WERO inputs a es He ea Axis Yes 6 06 The recorded counts of the axis encoder index pee ee pulse Pee eee Axis Yes 6 06 The operating mode of the axis encoder index LA signal ode do Axis Yes 6 06 The required phase for an index pulse to be counted Quick Device Settings 20 encoder mode Axis Yes 6 06 The operating mode of the axis encoder encoder pos Axis No 6 17 Position measured by encoder knob dir Axis Yes 6 06 Sets the movement direction for the knob Sets how far the device moves with each step of knob distance Axis Yes 6 06 the knob in displacement mode in units of microsteps knob enable Axis Yes 6 06 Disable the use of the knob w
10. can be configured per the steps in Initial Setup Front Panel Indicators Green LED On The device is powered on and operating normally Green LED Fades In and Out The device is parked Issue a tools parking 1 65 unpark command or home T 1 the device Green LED Flashes Slowly The operating conditions of the device are outside of the recommended range This will occur when the supply voltage is either over or under the recommended range the internal temperature has exceeded the set limit or the driver has disabled Check the following 0 The input voltage within the operational range of the device This can be read from the device with the get system voltage command 0 The device temperature is within range This can be read from the device with the get system temperature command 0 The driver is not disabled If the driver is disabled the result of the warnings command will contain the FD flag Green LED Off The device is not powered Check the supply connections and power adaptor for correct operation Red LED On or Flashing A critical error has occurred Please contact Zaber Technical Support Blue LED On or Flashing The device has slipped or stalled Please see the Slipping and Stalling section below Yellow LED Always Off or Flashes but No Reply There are communication errors Please see the Communication Errors section below Troubleshooting A Series Closed Loop Motion Devices 26 Manual Control Turning the knob e
11. device by power cycling it or sending system reset T 0 command then re initialize it with the home T 1 command Ground the device and avoid operating it under statically noisy environment The device makes noise but does not move Blue LED is flashing The device is stalling Try removing all external loads If the device now extends and retracts normally the problem is excessive load Try to reduce the load and ensure the load is less than the maximum thrust A higher thrust or torque can be achieved by lowering the speed of the device using the maxspeed 1 42 setting If a device is stalling with no external load at default speed and acceleration settings then it requires servicing Slipping and Stalling 29 Warranty and Repair For Zaber s policies on warranty and repair please refer to the Ordering Policies Standard products Standard products are any part numbers that do not contain the suffix ENG followed by a 4 digit number Most but not all standard products are listed for sale on our website All standard Zaber products are backed by a one month satisfaction guarantee If you are not satisfied with your purchase we will refund your payment minus any shipping charges Goods must be in brand new saleable condition with no marks Zaber products are guaranteed for one year During this period Zaber will repair any products with faults due to manufacturing defects free of charge Custom products Custom products are any part
12. is low Appendix C I O Usage and Examples 42 Digital Outputs All digital outputs on the A MCB2 are fully optoisolated and capable of sinking 15mA each at up to 50V The first example circuit below shows how to drive an LED from one of the digital outputs In order to switch loads with a higher current draw for example a relay an external switching transistor is required as shown in example 2 AN e Y Example 1 Example 2 The digital outputs are set through the io set command as shown below 1 io set do 1 1 01 0 OK IDLE 0 1 io set do 1 0 401 0 OK IDLE 0 The first command sets the first digital output which would cause the LED in example 1 above to glow The second command clears the output turning off the LED TTL Outputs Additional circuitry is required to get TTL signal levels from the A MCB2 as shown below The 74LS04 contains 6 inverters so its possible to convert all of the digital outputs with one IC In order to maintain isolation it is recommended that the 5V and GND supply connections come from the device requiring the TTL signalling It is however possible to use the 5V and GND connections from the Analog Output connector on the A MCB2 to power the external device as long as the current limits are adhered to Analog Inputs The analog inputs on the A MCB2 accept and display voltages in the range of 0 10V In order to measure other analog variables a transducer or sens
13. numbers containing the suffix ENG followed by a 4 digit number Each of these products has been designed for a custom application for a particular customer Custom products are guaranteed for one year unless explicitly stated otherwise During this period Zaber will repair any products with faults due to manufacturing defects free of charge How to return products Customers with devices in need of return or repair should contact Zaber to obtain an RMA form which must be filled out and sent back to us to receive an RMA number The RMA form contains instructions for packing and returning the device The specified RMA number must be included on the shipment to ensure timely processing Warranty and Repair 30 Email Updates If you would like to receive our periodic email newsletter including product updates and promotions please sign up online at www zaber com news section Newsletters typically include a promotional offer worth at least 100 Email Updates 31 Contact Information Contact Zaber Technologies Inc by any of the following methods Phone 1 604 569 3780 direct 1 888 276 8033 toll free in North America Fax 1 604 648 8033 Mail 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 Web www zaber com Email Please visit our website for up to date email contact information The original instructions for this product are available at http www zaber com wiki Manuals A MCB2
14. this case dev ttyACMO 94929 668171 usb 94929 686563 usb 94929 686572 usb 3 4 new full speed USB device number 92 using xhci_hcd 3 4 3 4 94929 686577 usb 3 4 3 4 3 4 3 3 New USB device found idVendor 2939 idProduct cafe 3 New USB device strings Mfr 1 Product 2 SerialNumber 3 3 Product X MCB2 94929 686581 usb 3 94929 686585 usb 3 94929 687436 cdc_acm 3 4 94929 687471 cdc_acm 3 4 Manufacturer Zaber Technologies Inc SerialNumber 1 1 3 1 0 This device cannot do calls on its own It is not a modem 1 3 1 0 ttyACMO USB ACM device wwrrrr rrr Note In some configurations modem manager will try to query the device when it is connected This won t affect device operation but can cause the port to be unavailable for several seconds OS X USB Communications Device Class CDC devices are supported in 10 5 and above No special configuration or drivers are needed The controller will appear as a tty usbmodem device The kernel log available through dme sg details the device detection and the assigned device in this case dev tty usbmodem1421 AppleUSBCDCACMData Version number 4 1 23 Input buffers 8 Output buffers 16 AppleUSBCDC Version number 4 1 23 ls dev tty usb dev tty usbmodem1421 Linux 41 Appendix C I O Usage and Examples The A MCB2 controller features a range of flexible input and output options that can be easily examined and controlled from user softwa
15. 0000 Move device 1 axis 1 to position 10000 microsteps aa T 21 12800 Move device 2 axis 1 in the negative direction by 12800 microsteps Decelerate and stop ALL axes on device 1 1 stop 1 23 An axis number of 0 or no no axis number implies all axes on the devices or the device itself Move ALL devices and ALL axes in the positive direction at the speed 153600 A device address of 0 or no device address implies all devices in the chain Modifying Device Settings move vel 153600 1 22 153600 Here are some examples if you would like to customize particular device settings Refer to the ASCH Settings or Command Reference section for detailed descriptions of each setting Command Description 1 set maxspeed 100000 1 42 100000 Set the speed of the all axes on the device 1 get maxspeed 7 53 42 Query the axes speed 1 system restore 71 36 Restore all the settings of device 1 to the default Built In Help Zaber A Series devices with ASCII support feature a built in help guide providing a quick and easy reference for all Commands and Settings that the device has To access the help send 1 help The device will respond with a detailed description on how to access specific information about commands and replies as shown below 01 0 OK IDLE WR O Initialization 14 01 01 01 01 01 01 01 01 DQO TO OO TOO COMMAND USAGE stop 1 stop 1 2 stop Type Type help commands h
16. 6 The updated position of the sensor when ER triggered e is Axis Yes 6 06 Position update to occur when sensor is pun aWay posupears triggered limit away preset Axis Yes 6 06 The default position of the away sensor limit away state Axis No 6 06 The state of the home sensor ad oa Axis No 6 06 Whether the away sensor has been triggered O previously limit away type Axis Yes 6 06 The type of away sensor connected limit c action Axis Yes 6 06 Automatic limit switch action limit c edge Axis Yes 6 06 Sensor edge to align action to limit c pos Axis Yes 6 06 Quick Device Settings 21 The updated position of the sensor when triggered Position update to occur when sensor is limit c posupdate Axis Yes 6 06 y triggered limit c preset Axis Yes 6 06 The default position of the c limit sensor limit c state Axis No 6 06 The state of the c limit sensor limit c triesered Axis No 6 06 Whether the c limit sensor has been triggered pun scaneecrec previously limit c type Axis Yes 6 06 The type of c limit sensor connected limit d action Axis Yes 6 06 Automatic limit switch action limit d edge Axis Yes 6 06 Sensor edge to align action to fat The updated position of the sensor when limit d pos Axis Yes 6 06 iripeered ia aaseialate Axis Yes 6 06 Position update to occur when sensor is ee triggered li
17. A MCB2 Product User s Manual Firmware 5 00 and up Last Update December 10 2015 Visit www zaber com wiki for more recent updates Zaber Technologies Inc 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 Table of Contents Disc heien coasbeccessebetcs seectessaeoneceeestes 1 Conventions used throughout this COCUMENL sccssccsssscssssssssscssssccsssscssssssssssssssssssssssscssssssasssssescssees 2 A eoan AEEA SEAR EERE AEEA ERRA 3 Device ias a ae 4 O ANN 4 LONE AEA EEE EE ETE a dia 4 Digital Tnputs QUPUtS ii E pees eles E EEE TEE EE EE E T T a E o 4 Analog Implica ENE EAEE EE EE E E aa eii 5 RS23Z2COMIMUDICAMONAS a A dt A Ea 6 RS485 CoM AA OS r a lia 6 USB Communications os 7 MOtOL Tnitentace di Ad a RA A a A les 7 INCAS Hi AS Mie E ERAS ROA AA A AA toas 8 COMUNICA O intel a a a aves 8 AA A O 10 Daisy Chainin es DEVICES elit dro TI a R ae a a n a i eaa E eiA Aa a naa 10 Ground 9 ES A AA ead a adi 11 QUICK Tuto a ESE EREA AEAN 13 O NR 13 TAMIZ lisis 14 Using the DEVICE rs nese bone AE eed eaten eee eae ene nota aye ee 14 Moditying Device Settings iii nido igang RE 14 Builth Helpa aee e A at apestde uueatac events E a A e aia e Eaa 14 GEA ETE E T T T EA E A E E A A E 16 W ELOCILY Modere ate a O E anet 16 Displacement Mod A ALA A E E RE E i a tebe 16 Summary of knob f nctojality sisari re EE tuvicacbeasaecdovaceaseeacaessevesgcouanccuensonsteeveseaese 16 Trajectory Control and Beha
18. Resolution 0 0125V Mating Products Manufacturer amp Part Number Digikey Mouser element14 TE Connectivity 1986692 6 A104374 ND 571 1986692 6 83T4130 TE Connectivity 284506 6 A98377 ND 571 2845066 15H7338 Equivalent Circuit Digital Inputs Outputs RS232 Communications Pin Previous Next i g Transmit Receive Receive Transmit DSUB 9 Female DSUB 9 Male Previous Device Next Device 3 4 5 Ground Ground 6 S Ty i 8 9 Default Settings e Baud Rate 115200 e Protocol ASCII Specifications e Supported Protocols Zaber ASCII Zaber Binary e Supported Baudrates 9600 19200 38400 57600 115200 e Bits 8 e Parity None e Stop Bits 1 e Flow Control None RS485 Communications Pin Description 5V A Inverting B Non Inverting GND RWN Default Settings e Baud Rate 115200 e Protocol ASCII Specifications e Supported Protocols Zaber ASCII e Supported Baudrates 1200 4800 9600 19200 38400 57600 115200 e Bits 8 e Parity None RS232 Communications e Stop Bits 1 e Flow Control None Mating Products Manufacturer amp Part Number Digikey Mouser Newark TE Connectivity 284506 4 A98375 ND 571 2845064 12H8898 NOTE When using the RS485 interface the device will execute any global or broadcast commands but not respond to them USB Communications J ear Specifications e USB 2 0 Full Speed e Communications Device Class Abstra
19. TO DEVICE 3 4 On the new unit configure the peripheralid setting of each axis with either the ASCII set peripheralid command or the Binary T 66 command The Peripheral Id for Zaber devices can be found on its identification label Alternatively a full list of Peripheral Ids can be found at Zaber Support Peripheral IDs This step needs to be performed whenever a motorized peripheral is changed for a different type If a 3rd party peripheral is being driven please contact Zaber Technical Support for assistance 5 Connect the motorized peripherals Quick Tutorial 13 Initialization Every time the controller is powered up or reset the motorized peripheral s need to be returned to the home position before they can be used This is achieved by sending the home T 1 command to the individual unit or all units Attempting to move the peripheral before it has been homed will result in an error as shown below 01 move rel 10000 01 0 RJ IDLE WR BADDATA If the device is being used under manual control the motorized peripherals need to be driven to the minimum home position before they will operate over their full range Using the Device Several commonly used ASCII commands and their Binary equivalents are shown below For a full list of the available commands please refer to the Command Reference section below Command Description 1 1 getpos 71 60 Query the current position of device 1 axis 1 1 1 move abs 10000 2 20 1
20. VONCD ROM drives gt Dz Human interface Devices gt ag IDE ATA ATAPI controllers gt Oey Human Interface Devices gt lt a IDE ATAVATAPI controBers lt gt Keyboords gt A Mice end other pointing devices 36 How do you want to search for driver software gt Search automatically for updated driver software Windows will search your computer and the Internet for the latest driver software for your device unless you ve disabled this feature in your device installation Browse my computer for driver software Locate and install driver software manually 6 Click the Browse button and select the location where you extracted the driver to r Browse For Folder B Contacts gt ik Desktop 4 B Downloads gt E Favorites JR Links b B My Documents My Music E My Pictures 7 Click Next Windows Vista 7 amp 8 37 Browse for driver software on your computer Search for driver software in this location Y Include subfolders gt Let me pick from a list of device drivers on my computer This list will show installed driver software compatible with the device and all driver software in the same category as the device 8 Click Install E Windows Would you like to install this device software Name Zaber Technologies Ports COM 8l LPT gt Publisher Zaber Technologies Always trust software from Zaber Technologies Don t Install hi
21. ary Protocol command that achieves the same result Not all ASCII commands have an equivalent legacy counterpart e g move abs 10000 T 20 10000 shows that a move abs ASCII command can also be achieved with binary command number 20 e All devices support the Binary Protocol however the ASCH Protocol is only supported in devices with firmware version 1 51 6 06 and above Conventions used throughout this document Precautions The A MCB2 series of stepper motor controllers are intended to drive a wide variety of motors It is not possible to choose factory default settings that will work with every motor that may be connected Therefore you will need to change some of the settings from the default values to match the motor you are driving For a Zaber peripheral device a complete setup can be accomplished by configuring the peripheralid T 66 setting with the peripheral s ID number See the detailed usage examples for more information on how to modify the settings particularly for non Zaber peripherals Damage to the actuator may result if the recommended settings are set improperly WARNING Serious damage can occur to stepper motor products when operated with significantly higher than rated current The A MCB2 controller can provide up to 2 5A of current to a peripheral BEFORE CONNECTING A NEW DEVICE to the A MCB2 controller it is important to set the correct motor parameters in the controller Please check the rated current for any peri
22. been forced out of position e On Off cycle every 2 sec The device has stalled and stopped Communications The A MCB2 supports multiple communications interfaces and processes commands through the currently active interface which is determined by the interface priorities Enabling or connecting a higher priority interface will cause any commands received over the lower priority interface s to be ignored Motor Interface Interface Priority 1 USB 2 RS485 3 RS232 Daisy Chaining Daisy Chaining is supported from USB to RS232 Next and RS232 Prev to RS232 Next In order to chain from USB to RS232 the comm usb protocol setting must be the same as the comm rs232 protocol setting Communications 9 Installation The A MCB2 can be connected to a computer as follows 1 Plug the serial cable into the computer s serial port and the device s Prev port For devices with USB connect the USB cable to the device and your computer instead There is no need to power down or reboot the computer 2 Connect the power plug of your power supply to the power connector of the unit The green LED should light up indicating the unit has power 3 Additional devices can simply be daisy chained to the first See Daisy Chaining Devices below 4 Install software from http www zaber com wiki Software For the initial setup 1t is recommended that Zaber Console is used As a simple first test try entering these instructions renumber T 2
23. ch i You should only install driver software from publishers you trust How can I decide 9 Click Close Your controller is now available and should appear in the Ports COM amp LPT section of the Device Manager Windows has successfully updated your driver software Windows has finished installing the driver software for this device A Series USB Windows Vista 7 amp 8 38 Windows XP 1 Windows will automatically detect the connection of the controller i Found New Hardware A Series USB SSO 8 22 Am 2 Once the New Hardware Found wizard starts select No not this time and click next Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software Yes this time only Yes now and every time connect a device E gt Click Next to continue lt Back Cancel If the wizard doesn t start 1 Right click on My Computer and select Manage 2 Select Device Manager from the list on the left 3 Under Unknown Devices you should see an entry with the name of the Zaber controller that is connected 4 Right click on this entry and select Update Driver 3 Select Install from a specific location and cli
24. ck Next Found New Hardware Wizard This wizard helps you install software for A Series USB If your hardware came with an installation CD or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Click Next to continue lt Back Cancel 4 Click the Browse button and select the location where you extracted the driver to Windows XP 39 Browse For Folder Downloads El Firmware E My Music My Pictures Visual Studio 2010 5 Click Next Found New Hardware Wizard Please choose your search and installation options C Documents and Settings nathan My Documents EF 6 Select Continue Anyway Hardware Installation 7 Click Finish Your controller is now available and should appear in the Ports COM amp LPT section of the Device Manager Windows XP 40 Found New Hardware Wizard Sy Completing the Found New Hardware Wizard The wizard has finished installing the software for y A Series USB Click Finish to close the wizard E Cancel Linux USB Communications Device Class CDC devices are supported in kernel 2 4 and above through the cdc_acm module No special configuration or drivers are needed The controller will appear as a tt yACMx device The kernel log available through dmesg details the device detection and the assigned device in
25. ct Control Model e Default Protocol Zaber ASCII e Supported Protocols Zaber ASCII Zaber Binary Motor Interface 5 Description 5V D Limit Sensor or Encoder Error C Limit Sensor Away Limit Sensor Home Limit Sensor Ground Motor B1 Motor Al Encoder 5V Encoder A Encoder B Encoder Index DSUB 15 Female Motor Interface NV 0 QDD hh YN Rh aa U Ne Encoder Ground Motor B2 Motor A2 e a A RS485 Communications NOTE The limit sensor inputs are pulled up to the internal supply rail and are designed to be pulled low by an open collector NOTE All sensor and encoder inputs are non isolated 5V TTL lines Indicators PWR Green Power e On Controller is operational e Blinking at 2Hz The power supply voltage or device temperature is out of range e Fading in and out slowly The device is parked See the tools parking T 65 command ERR Red Error e On blinking Controller has lost its settings or an error has occurred Please contact Zaber Technical Support MOT Yellow Communication Busy e On Device is moving or data is being transferred e Blinking Device is under manual control via the knob in Velocity mode The blinking rate is proportional to movement speed e Blinking at fixed rate Packet corruption has occurred for ASCII commands sent with a checksum ENC Blue Slip Stall e On The device is slipping e 2 short flashes every 1 sec The stationary device has
26. do hast Returns the current value of io get Device lailaoldoldi channel value 6 06 the specified I O channel type enana Sets the specified output io set Device ldo channel value 0 6 06 P P channel to value do port value value2 lockste Device Retentions peleo 6 15 a of a set SEAS documentation documentation y of parallel axes abslrellvel value Moves the axis to various move Axis minlmax 0 6 06 H Stored number positions along its travel renumber Device value 0 6 06 Pad Al deyices ne ES chain Device Sets the device or axis setting set and Axis Heine Vane 0 200 setting to the value y Decelerates the axis and stop pos i Oe brings it to a halt 18 Performs an action related to f Refer to the Refer to the stream Device 6 12 streamed interpolated documentation documentation A multi axis motion 4 Resets the device as it would system reset Device 0 6 06 appear after power up ee Restores common device system Device 0 6 06 settings to their default restore values f Echoes the provided message tools echo Device message 0 6 06 P 8 if any back to the user Uses the home and away tools E findranse Axis 0 6 10 sensors to set the valid range euncranse of the axis tools Moves the axis to a limit botolimit Axis limit dir action update l0 6 06 sensor and performs the gorcumil rovided actions Parking allows the device t
27. elp reply El stop all devices stop device number 1 stop device number 1 axis number 2 for a list of all top level commands for a quick reference on reply messages Visit www zaber com support for complete instruction manuals To access help for a specific command for example the move command send 1 help move e01 01 01 01 01 01 0 D O O O OO OK IDLE move move move move move abs rel vel min max Built In Help 0 x x x Move Move Move Move Move to by at to to absolute position relative position constant velocity minimum position maximum position 15 Manual Control The A Series range of motion control products are integrated with a depressible knob with 20 detents per revolution allowing devices to be controlled without the use of a computer There are two manual movement modes available Velocity and Displacement switch between these modes by holding down the knob for 1 second or via configuring the knob mode T 109 setting Upon power up the device will only travel towards the motor from its start up position until the home position is reached Once the device has been manually homed the full range of travel becomes available Velocity Mode Turn the knob clockwise to move the device in the positive direction extend or counter clockwise for negative direction retract Each detent of the knob increases the speed of the carriage There a
28. eries try plugging in the power Some laptops disable the serial ports when running on batteries 0 Make sure a null modem adaptor or cable is not being used 0 Make sure the correct adaptors if any are being used Refer to the pinouts in the RS232 Communications section above 0 If the problem encountered when trying to control the device with custom software try using one of the demo programs from the Zaber website to verify that the hardware is functioning properly The yellow light comes on briefly when sending a command but the device does not move and does not reply Check baud rate hand shaking parity stop bit etc are set as per the RS232 Communications defaults The device numbers may not be what is expected issue a system renumber T 2 command Make sure that the computer does not transmit anything else while the devices renumber If using the binary protocol check the following 0 6 bytes are transmitted and that the device number and command are valid 0 The software does not transmit any control characters such as line feed and spaces 0 That the serial port is not configured with a termination character it often defaults to linefeed If problems are encountered when using custom software try using one of the demo programs from the Zaber website to verify that the hardware works The device does not behave as expected when software sends it a series of commands The computer might be set to Unicode This is common for la
29. hen set to 0 knob maxsie d Axis Yes 6 06 The maximum speed that can be reached using pnob tmaxspece the knob in velocity mode ear Axis os 6 06 Sets the mode of the knob 0 for velocity mode ae tes 1 for displacement mode knob speedprofile Axis Yes 6 06 Sets the profile to be used per increment when in nO Apeecprome velocity mode A O Axis Yes 6 06 Maximum speed used when approaching a limit APA sensor limit detect decelon Axis Yes 6 06 Deceleration used when stopping after a limit EA sensor has triggered og y Maximum speed used when moving away from limit detect maxspeed Axis Yes 6 06 so E a limit sensor o Axis Yes 6 06 Reverses the limit positions by swapping the pum Swapinpuls home and away sensors limit home action Axis Yes 6 06 Automatic limit switch action limit home edge Axis Yes 6 06 Sensor edge to align action to wera aa pos Axis Yes 6 06 The updated position of the sensor when pun aome pos triggered limit home posupdate Axis Yes 6 06 Fosmon Update lo Occur when sensor is triggered limit home preset Axis Yes 6 06 The default position of the home sensor limit home state Axis No 6 06 The state of the home sensor A ceed Axis No 6 06 Whether the home sensor has been triggered ee ee previously limit home type Axis Yes 6 06 The type of home sensor connected limit away action Axis Yes 6 06 Automatic limit switch action limit away edge Axis Yes 6 06 Sensor edge to align action to tias Axis s 6 0
30. ing Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Setting Command Reply Version Voltage Setting Value Status Data Build Number Position Serial Number Position Peripheral Id Auto Reply Mode Message Id Mode Home Status Home Sensor Type Auto Home Disabled Mode Minimum Position Knob Disabled Mode Direction Movement Mode Jog Size Velocity Scale Velocity Profile Acceleration Deceleration Tracking Mode Tracking Mode Tracking Period Closed Loop Mode Tracking Period Timeout Direction Baud Rate Protocol Baud Rate Error Code 24 The settings for these commands are saved in non volatile memory i e the setting persists even if the device is powered down To restore all settings to factory default use command 36 Binary Protocol 25 Troubleshooting A Series Closed Loop Motion Devices The following sections contain tips for troubleshooting common problems with the A Series devices If the device is unable to communicate and it is operating erratically a manual factory reset can be performed as a last resort through the following steps 1 Power Off the device 2 Push and hold the knob for the first Axis if applicable 3 Power On the device 4 Continue to hold the knob in until the Blue LED is lit 5 seconds release the knob The device has been returned to its factory defaults and
31. ither way results in no movement The knob may have been disabled Check that the knob enable T 107 setting is correct Restore the default parameters through the system restore 1 36 command The device won t cover the full range of travel The device hasn t been homed Turn the knob anti clockwise until the device reaches the fully retracted position closest to the motor The device will home and the full range of travel available Unexpected Behaviour The device doesn t respond to a move command The device needs to be homed before use Send the home T 1 command The device is moving on its own and running against the ends of travel The position encoder has de synchronized Reset the device by power cycling it or sending system reset T 0 command then re initialize it with the home T 1 command Ground the device and avoid operation under a statically noisy environment The device is moving very slowly It used to move faster The speed settings may have been changed inadvertently Send a system restore 1 36 command The device makes louder than normal noise during travel and is frequently slipping This condition happens if the thrust needed is more than the thrust available from the device Check the following 0 The force on the device is less than the maximum thrust 0 The voltage using the get system voltage command Voltage less than the specified voltage for the device will reduce the device s maximum thrust Test the foll
32. losest to the computer A T DSUB9 connector can be used to connect the two strings of devices together e DSUB9 and MiniDin 6 with firmware version at or above 6 06 ASCII Protocol Chain The Minidin6 devices comm protocol T 123 should be set to 2 ASCII and the comm rs232 baud T 122 set to 115200 The DSUB9 devices should be chained together closest to the computer A T DSUB9 connector can be used to connect the two strings of devices together For assistance please contact Zaber Technical Support Grounding To prevent damage to the device due to static buildup the device should be properly grounded Failure to ground the unit may result in the unit shutting down unexpectedly or ceasing to communicate with the computer This problem can be minimized by not touching the unit during operation If the unit fails due to static discharge unplugging it and plugging it back in or sending a system restore T 36 command will usually fix the problem Most Zaber devices are grounded via the shield wire of the data cables This should normally provide a path to ground via the computer For units which are being used without a computer a ground lead should be connected to the chassis pin of the power supply connector Daisy Chaining Devices 11 Note Encoder embedded devices are sensitive to electrically noisy environments Static discharges can affect position calibration and cause unstable behaviour If the device is behaving strangely ve
33. mit d preset Axis Yes 6 06 The default position of the d limit sensor limit d state Axis No 6 06 The state of the d limit sensor lmit d triesered Axis No 6 06 Whether the d limit sensor has been triggered PUD aereo previously limit d type Axis Yes 6 06 The type of d limit sensor connected ia Axis Yes 6 06 The maximum position the device can move to EPT measured in microsteps limit min Axis Yes 6 06 The minimum position the device can move to peter measured in microsteps eones Device No 6 154 The number of lockstep sets provided on the NETA device ads Axis Ves 6 154 The maximum twist distance between axes ina ee lockstep set before a stop and untwist occurs maxspeed Axis Yes 6 06 The maximum speed the device moves at motion accelonly Axis Yes 6 06 Sets the acceleration used to increase the speed OST Axis Yes 6 06 Sets the deceleration used when decreasing the mouon cece ony speed peripheralid Axis Yes 6 06 The id of the connected peripheral pos Axis Yes 6 06 The current absolute position of the device resolution Axis Yes 6 06 Microstep resolution Sere ey Device No 6 144 The number of stream buffers provided in the REA device stream numstreams Device No 6 14 The number of streams provided in the device system access Device Yes 6 06 Sets the access level of the user system axiscount Device No 6 06 The number of axes in the device ten euren Device No 6 064 The current being drawn by the device and s
34. nguages that use non Latin based characters Go to Control Panel Regional and Language Options Advanced Select a language for non unicode programs This should be English or another Latin based character language Check what is being sent out of the serial port stackoverflow com has a list of some tools to monitor serial ports In Binary mode the device does not send replies but otherwise works Auto reply might have been disabled via T 101 Send a system restore 1 36 command If the problem is encountered when trying to control the device with custom software 0 Use a demo program from the Zaber website to verify that the hardware is functioning properly 0 Make sure that the receiving part of the code or commercial package is correct 0 Check the serial port settings are correct 0 Check connectors for bent or broken pins In Binary mode the device sometimes returns fewer than 6 bytes This typically indicates a problem with the serial port settings Some serial ports are set to automatically recognize and remove specific control characters such as carriage returns when they appear in the RS232 receive buffer Check the settings are correct and not removing or replacing characters Communication Errors 28 Slipping and Stalling The device moves smoothly but only moves for a short time then stops The blue LED is flashing but the device is not actually slipping or stalling The internal encoder counter needs to be re initialized Reset the
35. o tools be turned off and used at a DE Device _ statelparklunpark 011 6 06 parking later time without first having to home toi Sets RS232 baud rate and Bene Device rs232baud protocol 0 6 06 communication protocol for RS232 and USB tools number ade Stores a number of positions NEO Axis en Olposition 6 06 P storepos position current for easy movement Configures actions to be Refer to the erformed on the device trigger Device 0 6 06 p Pinte oo documentation when a certain condition is met number axis Configures a trigger to toggle trigger dist Device ispi emeng 6 06 a digital output line ever io ner enable aoun dis eae microste e number disable P p3 number period Configures a periodic trigger trigger time Device number enable count 0 6 06 to toggle a digital output line number disable every period milliseconds Sets up and controls a pair of Refer to the Refer to the P P virtual Device 6 18 axes to allow movement documentation documentation along a virtual axis Displays the active device warnings Axis clear 0 6 06 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 Setting Scope Writable Firmware Versions Description Quick Commands 19
36. or is required that outputs an appropriate voltage range As transducers typically provide low voltage signals an amplifier and buffer circuit is required to interface a Digital Outputs 43 transducer to the A MCB2 The reference circuit below demonstrates how to connect a wheatstone bridge to one of the analog inputs on the A MCB2 Various instruments are configured in a wheatstone bridge arragement including load cells and strain guages EX Whealstone SIG Bridge SIG EX gt tt p R_GAIN s value should be chosen so that a positive full scale of the instrument produces 10V at the analog input of the A MCB2 and a negative full scale produces OV The OP97 op amp provides an offset of 5V to the amplified value so that no load on the instrument produces an output of 5V The reference circuit below demonstrates interfacing a thermocouple to the A MCB2 Depending on the application an offset voltage may need to be provided A Thermocouple Es Analog Inputs 44 Specification Communication Interface Communication Protocol Maximum Current Draw Power Supply Power Plug Controller Maximum Current Per Phase Motor Connection Default Resolution Data Cable Connection Manual Control Axes of Motion LED Indicators Operating Temperature Range RoHS Compliant CE Compliant Weight Limit Sensors per Axis Isolated Digital Input Isolated Digital Output Analog Input Analog Input Range Analog
37. owing 0 Try a slower target velocity Stepper motors produce more thrust when moving slowly 0 Try a lower acceleration and deceleration 0 Clean the screw and lightly re grease it with a grease that does not degrade plastics The device has repeatability errors smaller than 4 full steps If steps aren t being skipped friction or loose parts may still cause some variation when returning to a position Please contact Zaber Technical Support The device doesn t cover the full range of travel or runs into the end A setting might have been inadvertently changed home T 1 the device to see if this corrects the behaviour 0 Send a system restore T 36 command Ensure that the periid setting of the devices corresponds to the attached device A list of peripheral ids are available at the Peripheral Ids page Communication Errors There is no communication with the device the Yellow LED does not come on or flash Manual Control 27 There are several things should be checked 0 Make sure the correct serial port is selected Try selecting other serial ports in the software 0 Check the baud rate hand shaking parity stop bit etc when configuring the serial communications software The required settings are listed in the RS232 Communications section above 0 Make sure there are no bent pins in the ends of all the data cables 0 Make sure the device is powered the Green LED should be on 0 If the computer is a laptop running on batt
38. pheral device before changing the current settings on the A MCB2 from the default values To put the A MCB2 controller into safe mode low current settings configure the peripheralid 1 66 setting to 0 If you have any questions please contact Zaber Technical Support Precautions 3 Device Overview Connectors All images are shown looking into the device Power Pin Description 1 Chassis 2 GND 1 3 3 24 48 V Digital Inputs Outputs Pin Description Digital In 1 Digital In 2 1 2 3 Digital In 3 5 Digital In Common 6 7 8 9 ld Digital Out 1 Digital Out 2 Digital Out 3 Digital Out 4 10 Digital Out Common Specifications Maximum Input Voltage per pin 8 0V Minimum Input Logic High Voltage 1 5V Maximum Output Current per pin 25mA Maximum Switchable Voltage per pin 60V Mating Products Manufacturer amp Part Number Digikey Mouser element14 Device Overview TE Connectivity 1 1986692 0 A104378 ND 571 1 1986692 0 83T4046 TE Connectivity 1 284506 0 A98378 ND 571 12845060 08H0070 TE Connectivity 1 1986692 5 A104383 ND 571 1 1986692 5 83T4051 TE Connectivity 1 284506 5 571 2845065 Equivalent Circuits 7 AAN Gay k Y RS I 7 We EF mm sk sk Analog Inputs Pin Description 1 45V 3 Analog In 1 1 6 4 Analog In 2 5 Analog In 3 6 Analog In 4 Specifications Absolute Maximum Input Range per pin OV 12 8V Nominal Input Range per pin OV 10 0V
39. re The input and output capabilities of the A MCB2 can also be used with triggers to perform actions based on the current value of the i o channel NOTE The A MCB2 I O features are only available when communicating with the ASCII Protocol Digital Inputs The digital inputs on the A MCB2 are fully optoisolated and feature bidirection LEDs giving added flexibility when interfacing to external equipment The two examples below demonstrate how the common line can be connected to a power rail or to ground depending on the application Sid momen Lo Example Example 2 Each digital input contains a current limiting resistor of 442 ohms as shown in the equivalent circuit above While this value is suitable for driving the inputs with 5V higher voltages will require the addition of a series resistor A list of recommended values for the external resistor and example circuit are shown below gt V_SUPP V R_EXT Ohms Power mW 0 8 OR n a 8 15 500R 125mW 15 24 1500 250m W The circuit above also shows how to interface with an open collector output from another device Reading the inputs is accomplished by sending the unit an io get command as shown below 1 io get di 01 0 OK IDLE 0010 1 io get di 1 01 0 OK IDLE 0 The first command queries all inputs on the device and shows that input 3 is high and all others are low The second command queries a specific input on the device in this case input 1 which
40. re 16 speeds in each direction The velocity profile and maximum speed can be configured via the knob speedprofile T 112 and knob maxspeed T 111 settings The device stops and resets the knob upon arriving at the end of travel Displacement Mode Turn the knob clockwise to move the device in the positive direction extend counter clockwise for negative direction retract Each detent of the knob moves the device a fixed number of microsteps specified by the knob distance T 110 setting The device moves at the speed specified by the maxspeed T 42 setting or the slower of speed and limit approach maxspeed T 41 if the device has not been homed If there are fewer than knob distance T 110 microsteps to the end of travel and another move is requested the device will move to the end of travel and then stop Summary of knob functionality e Turning the knob Moves the device in the direction of knob turn e Pressing the knob Decelerates and stops the device identical to a Stop command Instantly stops the device if the device is already decelerating e Pressing and holding the knob for 1 sec Toggles between Velocity Mode and Displacement Mode Manual Control 16 Trajectory Control and Behaviour This section describes the behaviour of the device trajectory when a movement command is issued Software Position Limits The travel range of the device is confined by the Minimum Position and Maximum Position settings The factory
41. rify that the device is properly grounded reset the device either by the system reset T 0 command or by disconnecting then reconnecting power then re initialize the device with the home T 1 command Grounding 12 Quick Tutorial The following tutorial uses Zaber Console to communicate with the device s Please refer to the ASCH Protocol Manual and or Binary Protocol Manual for detailed information on the available commands and how to setup and use other software Initial Setup The following steps need to be performed whenever a new unit is being installed NOTE Ensure no motors are connected to the controller before applying power for the first time Powering up the controller with a peripheral connected before it has been properly configured can result in damage to the peripheral and controller 1 Power up all integrated devices and controllers in the chain The power indicator on each should light up 2 Download and install Zaber Console from http www zaber com wiki Software Start Zaber Console and select the communications port the first controller is connected to For instructions on how to find the available communication ports on your system please refer to Appendix A Available Communications Ports 3 From the Console issue a renumber T 2 command to all devices The first device closest to the computer in the chain will become device 1 the next device 2 and so on DEVICE 1 DEVICE 2 AXIS 1 AXIS 2
42. s rai eere a i addict de cdas 33 Windowsa dae foster nee dt NN tato coa 33 E T a LE D EE E E N EEE A E A ETE EEN EES EE NAE A 33 Appendix B USB Driver Installation e ssesesessccesccesoceccesooesoossocesocesocesecssecesecescsscossoossosssosesosssosssesssesssees 35 Compatible DEVICES inenen n A R teeta a e n ea aeaa E A Aa a oiean 35 MOS A a e a id a a ON 35 Download da 35 Windows Vistas TS it tit id Ad E A A A ENAN 35 MWINdOWS XP oca dat UA Us a a card Es Ow 39 A URI 41 OR Re ES a oes ed a SR a de ee 41 Appendix C Y O Usage and Examples cccssssccisesssscessosnssonstssstsossncaveccessacssescestenssensessencsseosssneessanseneceseoesse 42 Digital Inputs oc qantiheecstieeeeeasi sigur tea needa sida aii 42 Digital Outputs i235 ccoetien ADD WAR teed halen es 43 AMAL OS pS O A A ele rece teats laden 43 Disclaimer Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where a product s use or failure could cause personal injury death or damage to property Zaber disclaims any and all liability for injury or other damages resulting from the use of our products Disclaimer Conventions used throughout this document eFixed width type indicates communication to and from a device The symbol indicates a carriage return which can be achieved by pressing enter when using a terminal program e An ASCII command followed by T xx indicates a legacy T Series Bin
43. settings for the devices are configured to match the physical travel range If a customized range is desired it can be changed via configuring the limit min T 106 and limit max T 44 settings to appropriate values Minimum Position When Current Position is less than the Minimum Position value the device cannot move in the negative direction towards the motor Maximum Position When Current Position is greater than the Maximum Position value the device cannot move in the positive direction away from the motor Movement Speed The movement speed of the device depends on device status and various speed settings If the device has not been initialized by the home T 1 command or by moving towards the home end of the device movement speed will be constrained to fail safe values The home status of the device can be determined by reading the limit sensor triggered T 53 setting for the home sensor The binary command additionally requires a value of 103 Movement speed of the device is specified below move vel T 22 The device will move at the specified speed regardless of home status Knob manual movement in Velocity Mode The device will move at the specified speed regardless of home status The speed is specified by the knob speedprofile T 112 and knob maxspeed T 111 settings Other movement commands When device has not been homed The device will move at the slower of the maxspeed T 42 and limit approach maxspeed T 41
44. viouKr sessesesccesocesoesoocssossocesscsssessccesecesocescesoossoossoessoeesocesosssesssecssecsocesocsssosss 17 Software BORSATO AN 3 1001 it AET E L E TEE EATE AAA 17 Movement A NO 17 Quick Command OO A A 18 AS CETREPLOOCO rosca odian lina E E IDO AR ECO ne Oe 18 Quick Commands e sees r aaea retest eases seat coh My ae eas a ei a ss ee as 18 Quick Device Settings a vin 19 Binary ProtocoOl ici illa linia 23 Troubleshooting A Series Closed Loop Motion Devices 26 Front Panel Indicators sis e ies Sade eee ea pda eae aah a aaa ae a a e eR aaa keiiaa 26 Manual Control mia ii li e a AI E E ii e tt abi 27 Unexpected BEOIVIOUE td a cath cok A a AAA AE a 27 Table of Contents Troubleshooting A Series Closed Loop Motion Devices CAMU AO A a 27 Shipping and Stalling epic iii lacestatesvertesagens Ubdagte 29 EAT sdenssbodecoiscdsnnseedeesesesesesoasedesceosdsedes sdeadsonsecsbent sencsdccesssecesose 30 Standard products mita aes I GN aia ead ee ai eid hs 30 CUSTOM products iin iiceene r e e e beat Fes er eos eo ot ml ed esos 30 How to TETU DrOdUCS cir o iaa da iS ao EE SAR dia 30 A des E E E E EE 31 Contact Mform tiOi sssssssessssessorssossssossisssodsossesiesoesessss soose sios eea sasoe aeaa s ouens eeso doodse doosi noose osooni as 32 Appendix A Available Communications Ports esesesscoesooesooesocesscesscesccesecesecescesocesoossosssosesosesosssesssesesees 33 Finding Installed Serial Ports sien ieee tar ei ea voce
45. wing the instructions on this page they will create a virtual serial COM port on your computer for communication If you are trying to connect one of Zaber s X USBDC T USBDC or T USB serial to USB adaptors return to the software support page for instructions Windows Microsoft Windows requires a driver to be installed for the USB connection to operate correctly Download 1 Download the driver here Zaber Integrated USB Driver 2 Extract the files to a handy location Downloads My Documents or the Desktop are good places 3 Connect power to the controller and connect the USB cable from the controller to the computer 4 Follow the additional steps for your version of Windows Windows Vista 7 amp 8 1 Windows will detect the device connection and attempt to automatically install drivers After a minute or so this will fail with a message that the device is not working correctly Continue on with the steps below 2 Right click on My Computer and select Manage 3 Select Device Manager from the list on the left Under Other devices you should see an entry with the name of the Zaber controller that is connected Appendix B USB Driver Installation 35 Bile fiction yew Heip 4 2G OE eis es File Aton View Heip 9 2G OG E 5 Choose Browse my computer for driver software Windows Vista 7 8 2 dl PO1308 02 Stuctoctn Redos b JE Computer gt qma Disk drives My Display adapters fj O
46. ystemLeulren motors system led enable Device Yes 6 06 Enables the front panel LEDs system serial Device No 6 15 The serial number of the device a Sem ee Device No 6 06 The current temperature of the unit in degrees Celsius Quick Device Settings 22 system voltage Device No 6 06 The voltage being applied to the device version Device No 6 06 The firmware version of the device version build Device No 6 17 The build number of the device s firmware virtual numvirtual Device No 6 18 Number of virtual axes Binary Protocol The following table offers a quick command reference for the A MCB2 For convenience you may sort the table below by instruction name command number or reply number Follow the links to view a detailed description of each instruction or refer to the Binary Protocol Manual Instruction Name Reset Home Renumber Read Register Set Active Register Write Register Move Tracking Limit Active Manual Move Tracking Manual Move Slip Tracking Unexpected Position Store Current Position Return Stored Position Move To Stored Position Move Absolute Move Relative Move At Constant Speed Stop Restore Settings Set Microstep Resolution Set Running Current Set Hold Current Set Device Mode Set Home Speed Set Target Speed Set Acceleration Set Maximum Position Set Current Position Set Home Offset
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