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ASCII_Protocol_Manual Product User`s Manual Firmware 6.15 Last

1. e nece qe Ye Ee ea PR ERE UR EE NER enisi MAndoWws zio ATE tores o Conventions used throughout this document eFixed 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 Previous Versions As new features are added to the ASCII protocol archived versions of this manual will become available below Please consult the correct manual for your device version Low Version High Version Manual 6 06 6 08 ASCII Protocol Manual 6 06 6 08 pdf 6 09 6 10 ASCII Protocol Manual 6 09 6 10 pdf 6 11 6 11 ASCII Protocol Manual 6 11 6 11 pdf 6 12 6 12 ASCII Protocol Manual 6 12 6 12 pdf 6 13 6 13 ASCII Protocol Manual 6 13 6 13 pdf 6 14 6 14 ASCII Protocol Manual 6 14 6 14 pdf 6 15 6 15 ASCII Protocol Manual 6 15 6 15 pdf Previous Versions 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
2. 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 1 trigger info 01 0 OK IDLE 62 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 example 1 trigger show 01 0 OK IDLE ed 500 ddd Trigger 1 is enabled trigger 3 will fire 500 more times before disabling and the rest of the triggers are disabled tools storepos 41 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 volati
3. Viewing an invalid setting get cloop mode 401 0 RJ IDLE BADCOMMAND cloop mode is only valid on devices with encoders and this device does not have one Attempting to read an invalid setting results in a 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 801 0 OK IDLE 0 01 0 Please provide a device address for querying help get 19 802 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 0 01 0 estop Emergency stop Help for an invalid command returns successfully 1 help dlkjsfbi 401 0 OK IDLE O 01 0 No help found hom
4. XAD M Connect string CONNECT No connect strings NO CARRIER NO DIALTONE Hang up string ATH M Dial cancel string M Dial time Delay before redial Number of tries DTR drop time 0 no 1 parameter setup Auto bps detect No Modem has DCD line Yes Status line shows DTE speed Multi line untag Change which setting Return or Esc to exit Select Screen and keyboard 9 Set Local echo Q to Yes 9 Press Enter to x nathan firmware nathan Welcome to min OPTIONS I18n Command key is Backspace key sends Compiled on Mal Port dev ttyu Press CTRL A Z Status line ts Alarm sound History Buffer Size Macros file Edit Macros Macros enabled Character conversion Add linefeed Local echo ich setting FXAUAHTOTMOND gt A L ovoz go back to the configuration menu 3 A BS enabled 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 2000 macros Yes No Yes Esc to exit CTRL A Zz for help 115200 8N1 NOR Minicom 2 5 I S offline 4 Save the setup as default Fxit 4 Type a test command in this example and o nathan firmware nathan
5. Device Valid Range 0 1 Access Level norm Reports the number of lockstep sets provided on the device lockstep tolerance Maximum axis twist Scope Axis Valid Range 0 2147483647 Access Level norm Selects the maximum allowable twist for a slave axis before a lockstep set stops and untwists during a motion zero means unlimited This setting is ignored for a master axis 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 limit min 61 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 th
6. 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 action a 1 move rel 10000 401 0 OK IDLE 0 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 401 0 OK IDLE O When trigger 1 fires the device will toggle the state of digital output 1 as the second action 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 Condition Configuration 43 1 trigger 1 action a 1 1 trigger 1 action b 1 emergency stop 1 trigger 1 enable 0 top toplf the second action is also stop the device will perform an 0 Cycling back and forth The following commands will cycle axis 1 between 0 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 O0 1 trigger 2 action b 1 maxspeed 75000 1 tr
7. OE oe tert ettet n meade al td dls 18 Bid 19 llOPle o Rene RR A RAIN RR 20 16 100 A A ONCE NOE EEE RENEE ret 20 MO ELE 21 VOS E Co bios KE 22 LOCK STE Pass ME H 23 Nd EE ij 23 Offset Twist and Toler nce 2e a re pee sa reve Te eee a ao ENS 24 Information iir itt ee tee raise ib egest diese eai eee eben telese nie teeta aree dte pb e Pe es botes bee dee ti ed Aqu 25 MOVEMENT TEN 25 Homing and Sensors oe nee reote e CUR EUREN an CES Gale 26 InOVec sorted oh icta A da tle ae ot dede petes 27 A O RO O 28 Mg TATEM ENS 29 brillos e Ute duae 29 KR SEIT A E AS EMI 30 Nin M E HPH 30 Interpolated Movement Lines Arcs and Circles seen 31 Trajectory Control eiie oer he EEG EE ETE GR sia isa 32 IOs and Waititig ra URP n rU 33 Communication Flow Control and Buffers sse n n n nennen nne en nnns 34 InformatiOn Coo oos someter ret teet ON 35 Table of Contents Command Reference AVADA 36 system Testo tinto 36 NI PSE E E ET PT PR ER 36 tools TiNdran Ges i Irt EO PRECEPTUM Se MP Gime aa esate eee 37 tools sotolimit 2 er e RET e ee A A es BE Ga 37 oe Edd ela o al EE ds ad 38 teols SeLCOIDBL 22 au AIR 39 tools SLOTS POS ces E E RENE UO NI tates sa beeps EHE e REDE VR EEEM NER E HEEL OI E ined
8. Scope Device Valid Range See below 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 over the current interface Once all the communications interfaces are idle the device switches to the protocol on the specified interface and clears the Setting Update Pending NU flag 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 comm rs485 protocol 52 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 in 25 mA units driver current run Current used to drive the motor Scope Axis Valid Range 0 100 Access Level norm The value of this setting is in 25 mA units 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 Scope Axis Valid Range 0 1
9. Settings limit home preset Axis Yes The default position of the home sensor limit home state Axis No The state of the home sensor limit home triggered Axis No Whether the home sensor has been triggered previously limit home type Axis Yes The type of home sensor connected limit away action Axis Yes Automatic limit switch action limit away edge Axis Yes Sensor edge to align action to limit away posupdate Axis Yes Position update to occur when sensor is triggered limit away preset Axis Yes The default position of the away sensor limit away state Axis No The state of the home sensor limit away triggered Axis No Whether the away sensor has been triggered previously limit away type Axis Yes The type of away 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 limit c type Axis Yes The type of c limit sensor connected limit 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 t
10. 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 b OK IDLE WR 6 press enter 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 Troubleshooting The device should respond as shown below 73 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 74 Appendix B Available Serial Ports Finding Installed Serial Ports Windows 1 Right click on Computer or My Computer and select Manage 2 Select Device Manager from the Computer Management list 3 Expand the Ports COM amp LPT category In this example there is one serial port installed COM1 which is a USB adaptor 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 ttySO at I O 0x3f8 irq 4 is a 16550A 2 432572 00 07 ttyS0 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 attached t
11. an info message Example Usage Including a message ID 2 1 8 move rel 10000 402 1 08 OK IDLE 0 A message ID of 8 is specified in the above command to axis 1 of device 2 Sending a command to all devices and axes with a message ID 0 0 25 stop COT 1 25 OK BUSY 0 COT 2 25 OK IDLE 0 02 1 25 OK BUSY 0 To include a message ID while sending a broadcast command you can use 0 for the device address and axis number Using message IDs to request no responses are sent for a command 1 1 set maxspeed 200000 You can use for the message ID in order to instruct devices not to send any responses to a command Message IDs 66 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 A device will verify the checksum if the 3rd last character of a command excluding footers is a colon 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 of the message is ignored If the checksum is invalid the device will ignore the message and flash the ye
12. below Moves the axis to various positions move Axis abslrellvel value 0 P along its travel Moves the axis to the limits of move Axis minimax 0 hm t travel Moves the axis to a previousl move Axis stored number 0 a P y ERE stored position renumber Device value 0 Renumbers all devices in the chain set setting value 0 Device Sets the device or axis setting setting and Axis to the value io Axis 0 Decelerates the axis and brings it to siop a halt Refer to the Performs an action related to f Refer to the er stream Device documentation streamed interpolated multi axis documentation below below motion Resets the device as it would appear system reset Device 0 PP after power up system Restores common device settings to Device 0 restore their default values Echoes the provided message if tools echo Device message 0 P ge any back to the user tools Axis 0 Uses the home and away sensors to findrange set the valid range of the axis tools idet Moves the axis to a limit sensor and ere Axis limit dir action update 0 gotolimit performs the provided actions l Parking allows the device to be arkin Device jstatelparklunpark 011 turned off and used at a later time parang without first having to home t is Sets RS232 baud rate and Device rs232baud protocol 0 communication protocol for RS232 setcomm and USB tools PE Stores
13. conditions If a stall condition is detected the axis will stop after a stall timeout 3 Position Correction Default Axis detects reports and recovers from slip conditions Stall conditions are detected and reported 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 48 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 m
14. indicates the end points centre points will be with reference to the starting position If the cw parameter is used any circular motion will move in a clockwise direction while using ccw will move counter clockwise Using line will move the axes in a straight line to the endpoints endx endy The line command will coordinate as many axes as are in the stream Using arc will move in a circular arc from the starting position to the end position endx and endy with the circular arc centred at centrex and centrey It s possible to enter coordinates that aren t congruent with a single circle so it s up to the user to ensure that the points conform to a circle Small corrections may be made if the difference is within a certain tolerance otherwise the command will be rejected Using circle will move in a complete circle starting and ending at the initial position The centre of the circle is specified by centrex centrey which also defines the radius of the circle Example Usage Setup 31 Moving in a line to an absolute position 01 stream 1 line abs 5000 5000 01 0 OK IDLE ND O For live streams the ND flag will indicate the movement will slow towards the end of the path See warning flags for more information Moving in a clockwise circle 01 stream 1 circle rel cw 0 10000 801 0 OK IDLE 0 Moves in a circle centred 10000 microsteps from the initial position in the Y axis The radius would also be 10000 microsteps in
15. int csum verify char message unsigned char c sum 0 char p messagetl while p 0x00 c sum unsigned char pt itp 04 c sum strtol p return c_sum 0 return CSUM_NOTPRESENT Python Calculating a message checksum def csum message msg c sum 0 for c in msg 1 c sum ord c c sum 256 c sum amp OxFF return s 02X r n msg c sum Verifying a received message def csum verify msg C skip the type character calculate the sum found the checksum field process NULL 16 convert the sent checksum CSUM OK CSUM FAIL calculate the sum of the message to be transmitted take the ones compliment negate return the full message 68 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 OxFF add in the received checksum and truncate to a 8 bi return c sum 0 return true if the message passed checksum verifica Python 69 Appendix A Communication Software Zaber Console Zaber Console is the recommended application for controlling Zaber devices on Windows systems 1 Download the Zaber Console and install it 2 Launch Zaber Console 3 Select the serial port and p
16. 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 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 De
17. it has run out of queued motions This warning persists until the stream has enough motions queued that it no longer needs to decelerate for that reason or until the stream is disabled NU Setting Update Pending A setting is pending to be updated This warning is cleared automatically once the settings have been updated To see and clear all current warnings use the warnings command 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 for instruction manuals inn 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 Info 15 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 f Message Footer Length 2 bytes This field alwa
18. 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 knob speedprofile 57 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 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 sensor action is triggered on the home or away sensor when this setting is 2 or posupdate is nonzero 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 li
19. n a xxxx 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 if 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 0x5a 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 Format 11 Message data containing command information The contents are space delimited 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 values are prefixed with positive values may optionally be prefixed with The Command Reference b
20. rate and clears the Setting Update Pending NU flag comm rs485 enable Enables the RS485 interface Scope Device Valid Range 0 1 Access Level advanced Setting to 1 enables the RS485 interface If a lower priority interface is currently in use the device will respond on the current interface and then switch to the RS485 interface disabling the lower priority interface For the supported interfaces and their priorities please consult the User Manual for your device When writing to this setting and the current interface is a lower priority then RS485 the device raises the Setting Update Pending NU notification flag and replies on the current interface Once all the communications interfaces are idle the device switches to the new interface and clears the Setting Update Pending NU flag comm rs232 protocol 51 comm rs485 protocol The communications protocol used by the device on the RS485 interface Scope Device Valid Range See below Access Level advanced Valid settings are 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 over the current interface Once all the communications interfaces are idle the device switches to the protocol on the specified interface and clears the Setting Update Pending NU flag comm usb protocol The communications protocol used by the device on the USB interface
21. respond as shown below PuTTY 71 OR IELE Gh amp 0 Send a test command to check the connection In this case help was sent and data was received 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 9 Set the serial device A to the correct device 9 Set the baud rate E to 9600 9 Disable hardware and software flow control F G 9 Press Enter to go back to the configuration menu nathan 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 Change which setting Screen and keyboard Save setup as dfl Save setup as CIRL A Z for help 9600 NOR Minicom 2 5 LL LVr1e2 offline i 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 72 nathan firmware nathan Modem and dtaling Init string Reset string Dialing prefix 1 ATOT Dialing suffix 1 M Dialing prefix 2 ATOP Dialing suffix 2 M Dialing prefix 3 ATX1DT Dialing suffix 3
22. shares the same values as come 21 baud protocol species fe Geared c tocol which must be supposed on USB and RS232 Tha parsrmeter shaves the same values as Corm 23252 pestecel and comm ab protec Thes command sete come 8232 baud o comm n232 procol and comm uso pretoco 6 Close the Serial Port change to the Binary version of the COM port the device is connected to and press Open 7 Confirm that the device is visible Resetting to Default Protocol If something happened when attempting the above that results in the device showing up in neither of the ASCII or Binary port options in Zaber Console you can reset the device to use the default by following these steps 1 Unplug the power supply of the device 2 Push the manual knob and hold it in 3 Plug in the power supply again while continuing to hold the knob in 4 Keep holding the knob in until the Blue LED is lit 5 seconds then release the knob If you re still unable to see the device contact Zaber s technical support ASCII to Binary 78
23. store mode send the stream commands you d like to save and then disable the stream During a live stream you re able to execute those stored stream commands using the ca11 command Use the buffer buf erase to clear the saved commands from the buffer location before saving to that location again You can display the sequence of stored commands with the buffer buf print command Example Usage Using cork to add commands to the queue 01 stream 1 fifo cork 01 0 OK IDLE O 01 stream 1 line rel 5000 1000 01 0 OK IDLE O 01 stream 1 line rel 5000 1000 01 0 OK IDLE O 01 stream 1 fifo uncork 01 0 OK IDLE O The line movements won t be executed until uncork is sent or the queue is full Using cork while commands are currently executing 01 stream 1 fifo cork 01 0 RJ BUSY ND BADCOMMAND The cork command will be rejected if commands are already being executed Storing a command to run later 01 stream 1 setup store 3 2 01 0 OK IDLE 0 01 stream 1 line rel 10000 50000 01 0 OK IDLE 0 01 stream 1 setup disable 01 0 OK IDLE 0 Communication Flow Control and Buffers 34 01 stream 1 setup live 1 2 01 0 OK IDLE 0 01 stream 1 call 3 01 0 OK IDLE 0 The line movement will execute after buffer 3 1s called in a live stream Clear a buffer 01 stream buffer 3 erase 801 0 OK IDLE O Printing o
24. the axis encoder index signal encoder index phase Axis Yes The required phase for an index pulse to be counted encoder mode Axis Yes The operating mode of the axis encoder knob dir Axis Yes Sets the movement direction for the knob oo Hi DRE Axis Nk Sets how far the device moves with each step of the knob in AA displacement mode in units of microsteps knob enable Axis Yes Disable the use of the knob when set to 0 nobi died Axis Yes The maximum speed that can be reached using the knob in SDopo maxspeec velocity mode incite Axis Yes Sets the mode of the knob 0 for velocity mode 1 for AAA displacement mode knob speedprofile Axis Yes Sets the profile to be used per increment when in velocity mode limit approach maxspeed Axis X Yes Maximum speed used when approaching a limit sensor limit detect decelon Axis Yes Deceleration used when stopping after a limit sensor has EEES triggered limit detect maxspeed Axis Yes Maximum speed used when moving away from a limit sensor es Axis Yes Reverses the limit positions by swapping the home and away ee sensors limit home action Axis Yes Automatic limit switch action limit home edge Axis Yes Sensor edge to align action to limit home posupdate Axis Yes Position update to occur when sensor is triggered Quick Device Settings Quick Device
25. the pos of that axis to its limit home preset The offset values of other axes in the set will be used to set the positions of those axes In some cases this could put the pos setting of an axis outside of its position limit range in which case the lockstep set will only be able to move towards the violated limit until the position of the axis is back within range Similarly if any other sensor is detected during operation the lockstep set will follow the actions prescribed by that sensors settings and update the positions of other axes based on their relative offsets The Movement 26 limit sensor posupdate setting of a sensor will only be applied to the sensor s axis and will not change the limits of other axes move Moves the device to various positions along its travel Scope 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 limit 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 store
26. 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 setto 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 gotolimit home neg 2 0 01 0 OK BUSY 0 Equivalent to the home command Adjust the effective travel range tools gotolimit away pos 1 1 01 0 OK BUSY 0 Assuming that there is already a reference established the command above leaves the current position as itis 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 PARKED 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 tools gotolimit 38 Parking tools parking park 401 0 OK ID
27. use this command in Zaber Console to switch between these protocols 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 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 Setting a position 1 1 tools storepos 1 150000 401 1 OK IDLE O Stored position 1 has been set to a position of 150000 microsteps for axis 1 Retrieving a stored position tools setcomm 40 1 1 tools storepos 1 Q01 1 OK IDLE 150000 The stored position 1 has a value of 150000 for axis 1 Moving to a stored position move stored 1 0801 0 OK BUSY 0 get pos 01 0 OK IDLE 150000 O
28. waits for 1000 ms at the point in the stream before continuing Wait for analog value to be above a certain value 01 stream 1 wait io ai 1 gt 5 401 0 OK IDLE O Stream will stop and wait until analog input 1 is above 5 Wait io commands will decelerate to a stop because the input isn t checked until after the last command is complete Trajectory Control 33 Communication Flow Control and Buffers To ensure commands are executed continuously the device can hold a queue of stream commands Once the queue becomes full the device cannot accept any more commands until some have finished executing If one is sent while the queue is full it is rejected with the AGAIN message to indicate you should resend the command until it is accepted Sending again must be handled on the application end e If the queue is almost empty the movement will slow down and stop as the last available movement command is finishes As soon as it starts slowing down it sets warning flag ND indicating there s been a discontinuity in the motion e You can fill up the queue before starting movement using the fifo cork command It will automatically start executing once the queue is full or you can use fifo uncork to start before then Instead of sending the stream commands while they are being executed live mode you can save a series of stream commands to buffer locations on the device using the setup store command After setting up the stream in
29. 40 is A A A A A sav Ou aes 41 Condition Configuratioh 54 5 n obe eere cob cebbadaees tale avel ees asthe lecaat 42 Command Contre uration cocido ciclista iria tidad 43 Trigger USsdge sioe A QU RERO GUI UI RE HORA MERO UO dre 43 o cM 44 URIS BOT UTI e e tien eo tete e cease dents 45 WAITING IDOL 45 RS ITI I LIII ET 47 o O O OA 47 eloop COUnts re Me RE Ote SE Ee lirica 48 CIO MOE an a ie tees A eerie TOS EG OR EQ EGER TE da 48 cloop stalltimeout 7 5 mH EROR RE A REN Ie dee METH ees 48 A RR 49 COMM AGDGLESS anite rettet Mere temi eerte reete bue ce eA ete tea E Gee ro ca be dpi E 40 Comm alert asian eI e INE ROTER EIE p EO re WOO I and 49 COM ree S TERRORIST et 40 commi ptrotocoL 5 tulere eee re e e PR C Rainer eee PEU AER PER REL Loan 50 COMMIUTS292 Dau oet e veia ead wath reti Iaido 50 comim r8232 protocol A Pa ROM ONE d E PEE ere ree 50 COMM ESA SS DU dtr rar e tad tein dnd iet 51 COMMETSA SD enable ssc me eet rece eet eer A AA epit ee eate eoa eov eee Ei 51 comm r 4585 protocol eerte eee tee tte deer ie eR et eerte e ede ele ee Pede eoe e cb 52 comimiusb pfOLOCcol eee te ree ed rep e ER n TO EDO E 52 NON 52 driver c rrent hold obrera ett aere net kite e peut eda baee EE NRI a East oido ea RES 53 drrVer currehtuli5 RN 53 driVer dit cene GORGE EORR BE RING ME 53 driver temperatura RET BR CENT HE etie eie re cad 53 encoder count xo oeste to oreet Ue A A ule ea bxc P
30. 50 Access Level norm Read Only Example 1 1 get driver temperature 01 1 OK IDLE 53 5 The driver is currently at 53 5 C encoder count The position as reported by the axis encoder driver current hold 53 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 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 encoder count 54 e 1 Normal Encoder index pulses are counted encoder index phase Specifi
31. ASCII Protocol Manual Product User s Manual Firmware 6 15 Last Update February 19 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 Conventions used throughout this documenht eee ee eee e eee eee ee eren ee eee seen aset en eee tn setate stesse snae sena ee 1 Previous Versions O cdesesecdescusuvedeseusecseetbes 2 Quick RA A O Iste brse V E esee gee Ne gee sere Ubro rV oes esset ee erre soonest 3 Connecting lat lo e Re Re bie merae LR D AIR 3 Talking to Zaber Devices ose eet tee ien eb tere eode Sete rete ete bette caia 3 Making At MOVE PE 4 Changing Device Setting niendo S RETE Ee EIE yaaa 4 Talking to n Individual Devilee noient i a asse deer ete Ee e Ene ea Pe UE Ee asun 5 Talking to an Individual AXIS 1 eter Peer aene te iso ces I EE e Ud 5 Biltam Help EE 5 Quick Command Reference niue Tan ta 6 Quick Coramands 5 nennt IUENRIO UR ER 6 Quick Device Setit S acer eret eee e TAN aha eee ATE ase eR Tete OR bt 7 MiGSSa Ge UVP M 11 Commands 4 tnt RD DW rene e rev eate rie i reg are verde ee Es 11 Replies idilio 12 NES A E TS 14 Info adsis te Id n babe O TR RO NN 15 AVES re Enemies A nne 16 AN 18 eSLOD3 1 ones iia 18 Beto d net I rt eure Carian OR
32. During streamed motion wait commands are considered to be busy not idle If the reply message applies to the whole device the status is BUSY if any axis is busy and IDLE if all axes are idle ww Warning Flag 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 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 f Message Footer Length 2 bytes This field always contains a CR LF combination r n for a reply message Replies 13 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 Warning Flags A warning flag is provided in each device to user reply message indicating whether any device fault or warning is active I
33. LE O Unparking tools parking unpark 401 0 OK IDLE O Parking when busy tools parking park Q01 0 RJ BUSY STATUSBUSY The device cannot be parked while it is busy 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 setcomm Sets the RS232 baud rate and communication protocol for RS232 and USB Scope Device Parameters rs252baud protocol rs232baud specifies the desired RS232 baud rate This parameter shares the same values as comm rs232 baud Valid settings are e 9600 default for Binary in Zaber Console e 19200 e 38400 e 57600 e 115200 default for ASCII in Zaber Console protocol specifies the desired communication protocol which must be supported on USB and RS232 This parameter shares the same values as comm rs232 protocol and comm usb protocol Valid settings are e Binary Only Legacy T Series binary protocol only e 2 ASCII Only A Series ASCII protocol only This command sets comm rs232 baud comm rs232 protocol and comm usb protocol tools parking 39 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 See Appendix C for how step by step instructions on how to
34. Yes The device address comm alert Device Yes The device will send alert messages when this setting is 1 m Device Yes The device includes checksums in its messages if this setting is NEN set to 1 om roco Device Yes The communications protocol used by the device on the current interface comm rs232 baud Device Yes The baud rate used by RS232 Prev and Next interfaces comm rs232 protocol Device Yes The protocol used by RS232 Prev and Next interfaces comm rs485 baud Device Yes The baud rate used by RS485 interface comm rs485 enable Device Yes Enables the RS485 interface comm rs485 protocol Device Yes The protocol used by RS485 interface comm usb protocol Device Yes The protocol used by the usb interface deviceid Device No The device id for the unit driver current hold Axis Yes Current used to hold the motor in position in 25 mA units driver current run Axis Yes Current used to drive the motor in 25 mA units driver dir 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 Yes The recorded counts of the axis encoder encoder dir Axis Yes 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
35. a 60 A eret eter E ia d Et D ren retirer ia reve ee rea tore e ege vene eo eae geo Pep 61 lockstep tiumlockst ps c iie tt a eret eer ap ie ede o Deer visiting 61 MOCK step tolerancia Me eter deseen die eee tenerse he dee Eee EP Ree v ne deed 61 MAX DEl eC A A OS EG tun eaten ERE TE a 61 motion acc Mii EROR Re RE HUE REN i rice MER 62 motion decelonly ioo ROT dre tens ire a Peay tes toe vet esiste dte bedeutete 62 Peripher ali de 34 oret t Mei te enster eee deut eie IRAE eee EEE e e ee Ro sede deo cre te eodd 62 NN 62 TEO A A a bo Cees ava Bes 63 StPEAIM MUMBULS icon ias iii diese 63 Stream numstteat s uo ete rote ntc eased eked 63 SySteMM ACCES ia EASTERN E GEO EG UNE A REM EAE RESET 63 SYSTEM ARICA a EUR PORE Lin ate 64 AMICUS qKO NEED 64 NGN RN RN 64 Systeri temiperature OO NN 64 NI RO 64 VETSION iii dial 65 MGsSage O A O 66 AE NN 67 A ANNE 67 Example Codeine ONU ia Rent 67 Ron Cc 67 PythOD 2 et ete e tb et E reb teg ie e i ACRI EP Urt 68 Appendix A Communication Software eee ee eee ee eee ee eee eee ee eee eo sette sense sten aee aa sese eo eto se etas e seen sena 70 Zaber Consoli natia A A ERE NEE ni E 70 PUT Tras ct a e ds Ada E BALE 70 MAS A O e Ye 72 Table of Contents Appendix A Communication Software Appendix B Available Serial Ports sisccsiscsictissosscvsnsscscecsnencsessesssnterssvssncccstanssusceseosevedeetscnessonsveuseessenssosecensoeess Finding Installed Serial Ports
36. a number of positions for eas Axis number positionlcurrent Olposition P y storepos movement Configures actions to be performed Refer to the E pe trigger Device f 0 on the device when a certain documentation below oie condition is met number axis displacement Configures a trigger to toggle a trigger dist Device X number enable count 0 digital output line every number disable displacement microsteps number period Configures a periodic trigger to trigger time Device number enable count 0 toggle a digital output line every number disable period milliseconds Displays the active device and axis warnings Axis clear 0 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 Quick Commands Setting Scope Writable Description accel Axis Yes Sets the acceleration used to modify the speed AN Axis Yes The number of counts generated by the encoder for one full EXPO revolution cloop mode Axis Yes Sets the closed loop control mode cloop stalltimeout Axis Yes The amount of time to wait after a stall displacement condition in milliseconds The number of full steps required for the motor to complete one cloop steps ERU cai revolution comm address Device
37. an believe btt sao Pe reno retia ot Desa Lodo eae uta 53 encOd6eE IE moo NN be ce E 54 encoder filter onini t t T iso i REO 54 encoderand x coutrt A e e oat to Fo Davee de eee Te euo veins 54 encoder ndex mode tesis ue ee ve bird Le Re Er EE Led E Cea P ER I Less la tea eri beide tdg 54 encoder imdex pliasesz 54 ode a da eerte ede reete ehe se re troie ete reden 55 encoder mode uu ene A A A N MM 55 MOD is A A A obio 55 knOb diStariCe id AAA AS ies A at abi 55 AA TAO ta RE 56 Table of Contents Device Settings knob maxsp ed use RR GEN BEI URS EU ET e e ede Eee a RS 56 KNOD ANGE enit ets Gen Ht end e eee dde ea andeabesduseasataees 56 knob speedprotil ore eere ete e Reha or E re dd EE eed eee E RET RE ERE E E Ee dee 56 Iimit approach maxspeed 4 5 eec aa verb Gia aah ERE et enne 57 I mit detect decelonly 5 iere a RESET ee BE rue edes 57 Iimit detect imaxspeedo oe Oe cet e en feet os ee o ae ene os de cea belt exea 57 LES WAPO PUTS RR 57 linit SENSOR action uio ett t T i iso iaa 58 lIimit sensoredge ise A a ARR EDAM ESSE ERN e Ure e Ee ROBA bass 58 l nit sensoripos citado he lcd 58 Timat s nsor posupdate 5 dn eene ida A dt aid 59 limat sensot preset aio dada 59 MA O A reip E p OCR A E EE 59 limit sensortriggered a ose repete dete d etate tote eet eite ees aae eu ERE eed rh eon 60 limiit SENS OLAV PSs soi tette ce eo tee nete tr ee Pec P Te ESL E Ve sede ir dee ade eee e TUO eas 60 MC id e e dios
38. and will change the device number to value in which case value is required When a device receives a renumber command it will use the new device number for it s response Example Usage Renumbering all devices in the chain renumber 801 0 OK IDLE O 802 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 4 804 0 OK IDLE O Device 2 renumbered and replied on address 4 This is equivalentto 2 set comm address 4 Invalid device number renumber 999 move 28 401 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 Example Usage Writing a device setting set knob enable 1 01 0 OK IDLE 0 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 0 set system voltage 0 01 0 RJ IDLE BADCOMMAND It s possible to read from some settings but not write to them stop Dece
39. arning currently active for the axis or under normal conditions A full description 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 f 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 1t s maximum position than axis 1 is move max 01 0 OK BUSY O 101 2 IDLE 101 1 IDLE The first alert is generated when axis 2 stops and as that axis is idle the axis scope reply has IDLE in its ssss field even though the device as a whole is still busy due to axis 1 moving The second alert is generated when axis 1 stops Alerts 17 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 pa
40. by this setting The actual speed is calculated as knob maxspeed 1 6384 microsteps sec knob mode Sets the mode of the knob Scope Axis Valid Range 0 1 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 1 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 1 3 Access Level norm knob distance 56 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 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 limit detect decelonly The deceleration to be used when a limit sensor has been triggered Scope Axis Valid 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
41. d 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 Otherwise 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 tools echo 37 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
42. d 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 Homing and Sensors 27 401 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 Q01 0 RJ IDLE PARKED Axes cannot be moved when the device is parked Either unpark or home it renumber Renumbers a device or all devices in a chain Scope Device Parameters value Valid range 1 99 The global version of this command sequentially renumbers all devices in the chain starting with value if provided or 1 The global renumber command only works on interfaces that support daisy chaining issuing a global renumber command over an interface that doesn t support daisy chaining will be rejected with a BADCOMMAND Please consult the device User Manual to determine which interfaces support daisy chaining When a specific device address is sent the renumber command the renumber comm
43. e Moves the axis to the home position Scope Axis Parameters none 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 801 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 20 ao ai do 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 capabili
44. e 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 Scope Axis Valid 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 NOTE If the axis is part of a lockstep set manually modifying this setting does not update the locksteps s offset which means the modification contributes to twist motion accelonly 62 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 limit n pos limit n preset 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 p
45. e device raises the Setting Update Pending NU notification flag and replies in the current baud rate Once all the communications interfaces are idle 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 rs232 protocol The communications protocol used by the device on the RS232 Prev and Next interfaces Scope Device Valid Range See below Access Level norm Valid settings are comm checksum 50 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 over the current interface Once all the communications interfaces are idle the device switches to the protocol on the specified interface and clears the Setting Update Pending NU flag comm rs485 baud The baud rate used by RS485 interface Scope Device Valid Range 1200 115200 Access Level advanced Valid Settings e 1200 e 4800 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 the communications interfaces are idle the device switches to the new baud
46. ec the speed setting would be modified as shown below set maxspeed 81920 01 0 OK IDLE 0 Talking to Zaber Devices 4 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 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 0 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
47. ed and the axes parameter sets which axis or axes will respond to the stream Live streams can only be initiated for axes that have been homed and are idle The setup store command will save any commands to buffer buf the stream numbufs setting indicates the number of available buffers and the axiscount is how many axes are in the stream See section on buffering for more information on buffers stop 30 The setup disable command will close the stream A stream is also automatically disabled if a non streamed motion command is sent to one of the axes in the stream Example Usage Initiating a live stream 01 stream 1 setup live 1 2 401 0 OK IDLE 0 Stream 1 is opened addressing axes 1 and 2 Streaming before homing 01 stream 1 setup live 1 2 01 0 RJ IDLE WR BADDATA The stream command will be rejected and BADDATA will be returned if one or more of the axes have not been homed Ending a stream 01 stream 1 setup disable 401 0 OK IDLE 0 Streams should be disabled once they are no longer in use Single axis stream 01 stream 1 setup live 1 401 0 OK IDLE 0 Streams can also be created to control a single axis Interpolated Movement Lines Arcs and Circles Three basic streamed motions are available straight lines circular arcs and full circles If the abs parameter is used the end points centre points will be with reference to the home position while the rel parameter
48. eing applied to the device Scope Device Valid Range 10 50 system axiscount 64 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 Example usage get version 01 0 OK IDLE 6 06 system voltage 65 Message IDs There are some cases where you may want to match responses with a particular command or may not want a device to respond to certain commands Message IDs are available to help accomplish this In addition to the standard command format the ASCII protocol also permits a variation of the format where a message ID is included in a command Whenever a command with a message ID is sent all responses generated by that command also include the same message ID This applies to reply responses and info messages alerts never include a message ID because they are not sent in direct response to a command If a message ID is included in a command it must follow the device address and axis number but precede the command Both the device number and axis number must be explicit if a message ID is included The valid range of message IDs is 0 to 99 The message ID in the response will be 2 digits and will also follow the device address and axis number and precede the reply flag of a reply or the data of
49. elow 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 f 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 0 803 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 801 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 Commands 12 Length 1 byte This field contains the reply scope from 0 to 9 0 indicates that the following fields apply to the whole device and al
50. erformed stream numbufs Number of stream buffers Scope Device Valid Range 0 4 Access Level norm Reports the number of stream buffers provided on the device stream numstreams Number of streams Scope Device Valid Range 0 1 Access Level norm Reports the number of streams provided on the device 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 resolution 63 system axiscount Reports the number of axes in the device Scope Device Valid Range 1 2 Access Level norm Read Only This setting reports the number of axes in the queried device system current The current being drawn by the device and motors 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 O 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 401 0 OK IDLE 26 8 The device is currently at 26 8 C system voltage The voltage b
51. es the value of the encoder phase for a valid index pulse Scope Axis Valid Range 0 1 Access Level adv When this setting is O 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 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 encoder index mode 55 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
52. f 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 FS 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 FB Stream Bounds Error A previous streamed motion could not be executed because it failed a precondition e g motion exceeds device bounds calls nested too deeply This warning persists until acknowledged and cleared by the user with the warnings command also until the warning is cleared no further streamed motions can be sent to the failed stream FP Interpolated Path Deviation Streamed motion was terminated because an axis slipped and thus the device deviated from the requested path This warning persists until acknowledged and cleared by the user with the warnings command FE Limit Error The axis took too long to reach the target limit sensor This warning persists until acknowledged and cleared by the user with the warnings command WL Unexpected Limit Trigger A home or away sensor triggered unexpectedly This occurs when an automatic limit sensor action is carried out on a previously triggered home or away sensor if the action is 2 retract and update curre
53. ger to fire when a axis setting compares to a provided value The axis parameter indicates the axis number that the setting applies to Note that for firmware versions earlier than 6 11 not equal to must be written as instead of lt gt Example Usage Triggering when an analog input exceeds a set voltage 1 trigger 1 when io ai 2 gt 7 5 401 0 OK IDLE 0 Trigger 1 will fire when analog input 2 exceeds 7 5 volts trigger 42 Triggering when an axis position exceeds a value 1 trigger 1 when 1 pos gt 750000 01 0 OK IDLE 0 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 stoplmove 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 Theaction 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
54. he sensor when triggered limit d posupdate Axis Yes Position update to occur when sensor is triggered limit d preset Axis Yes The default position of the d limit sensor limit d state Axis No The state of the d limit sensor limit d triggered Axis No Whether the d limit sensor has been triggered previously limit d type Axis Yes The type of d limit sensor connected pus Axis Yes The maximum position the device can move to measured in EREE microsteps limit min Axis Yes The minimum position the device can move to measured in a microsteps lockstep numgroups Device No The number of lockstep sets provided on the device loctem said Axis Yes The maximum twist distance between axes in a lockstep set EUR before a stop and untwist occurs maxspeed Axis Yes 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 Axis Yes The id of the connected peripheral pos Axis Yes The current absolute position of the device resolution Axis Yes Microstep resolution stream numbufs Device No The number of stream buffers provided in the device stream numstreams Device No The number of streams provided in the device system access Device Yes Sets the access level of the user system axiscount Device No The number of axes in the device system current Device No The current being drawn b
55. iffness of the system and error tolerance Setup 24 Both of the above corrections require the closed loop mode to include position correction cloop mode setting of 3 or higher All of the other closed loop mode functions that would normally apply to an axis stall detection recovery etc will continue to apply Use Caution if you are using the set pos command with a lockstep set enabled Any difference in positions other than the offset amount will be treated as twist even if it s a result of changing the position setting and the stage will try to correct it with the next movement command If the position values do not match the offset plus any actual twist in the mechanical system it will likely introduce mechanical twist in the system when they try to correct After a power cycle one of the axes will be at its limit max position on power up while the positions of the others will be based on the offset values This will enforce the normal constraint of only being able to retract the system until it s reached a reference position The twist value will not be retained through a power cycle though To keep track of the twist through a power cycle use the tools parking commands Information To read out information about an active lockstep set use the Lockstep info command This command returns a list of space separated values which are in order 1 the number of the master axis 2 the number of the first slave axis 3 the offset va
56. igger 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 Once 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 Example Usage Set up the distance trigger 1 on axis 1 to toggle every 1000 microsteps and enable it trigger dist 1 1 1000 401 0 OK IDLE O trigger dist 1 enable 01 0 OK IDLE 0 Trigger Usage 44 trigger time 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 coun
57. l axes on it otherwise the fields apply to the specific axis indicated 1 Reply Flag Length 2 bytes The reply flag indicates if 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 AGAIN The command cannot be processed right now The user or application should send the command again Occurs only during streamed motion BADDATA The data provided in the command is incorrect or out of range BADCOMMAND The command or setting is incorrect or invalid DEVICEONLY An axis number was specified when trying to execute a device only command FULL The device has run out of permanent storage and cannot accept the command Occurs when storing to a stream buffer LOCKSTEP An axis cannot be moved using normal motion commands because it is part of a lockstep set You must use lockstep commands for motion or disable the lockstep set first PARKED The device cannot move because it is currently parked STATUSBUSY The device cannot be parked nor can certain settings be changed because it is currently busy 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
58. le 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 Note that the following settings either cannot be used in trigger conditions or actions or can be used but have special meanings accel Use motion accelonly and or motion decelonly e comm protocol Use comm rs232 protocol comm rs485 protocol or comm usb protocol driver temperature peripheralid system current e system temperature Works but measured in tenths of a C when used in trigger conditions system voltage Works but measured in tenths of a volt when used in trigger conditions version 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 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 trig
59. le on devices with at least 2 axes io set 23 Before mechanically connecting the axes that will be in a lockstep set home each one individually first Next align the system and fasten it together Once it s mechanically set up send the setup enable command with with the axes as the data value The first axis number in the data will be the master axis and additional axes will be the slave axes Axes can only be in one lockstep set and must be idle when the set is enabled or the setup enable command will be rejected The difference between the position values of the axes will be recorded as the offset value see section below for more information on the offset The set will remain enabled including through power cycles and continue to move in lockstep until the setup disable command is sent Example Usage Initiating paired lockstep movement 01 lockstep 1 setup 1 2 01 0 OK IDLE O Axes 1 and 2 are now paired with axis 1 being the master axis and axis 2 the slave axis Ending paired movement of the axes 01 lockstep 1 setup disable 01 0 OK IDLE 0 The axes that were paired in lockstep 1 are no longer paired and can move independently again Offset Twist and Tolerance Each axis in a lockstep set continues to track its own position pos setting Any difference in the position values between axes when the set was enabled is known as the offset value This is the expected position difference and the syste
60. lerates an axis and brings it to a halt Scope Axis Parameters none To quickly stop an axis see the estop command renumber 29 Example Usage stop 0801 0 OK BUSY 0 stream Performs an action related to streamed interpolated multi axis motion Scope Device Parameters number setup live axes number setup store buf axiscount number setup disable buffer buf erase buffer buf print number arc abs rel cw ccw centrex centrey endx endy number call buf number circle abs rel cw ccw centrex centrey number fifo cork uncork number info number io set do channel value number io set do port value value2 number line abs rel endx endy number set maxspeed value number set tanaccel value number set centripaccel value number wait milliseconds number wait io ai di channel lt gt lt gt lt gt value While most commands will pre empt previous commands a stream allows the execution of a series of subsequent commands and movements in order Streamed movement commands can also be interpolated linear or circular movements Setup Devices that allow stream commands will have a non zero stream numstreams setting showing how many simultaneous streams you can have The number of the stream you are addressing is the number parameter in any of the above stream commands Streams are initiated and ended with the setup parameters The setup live command will run stream commands as they are enter
61. ll be applied to lockstep motion commands For example if axis 1 has a maxspeed setting of 20000 and an accel setting of 205 and axis 2 has a maxspeed of 10000 and an accel of 300 their lockstep motion would accelerate at 205 to a top speed of 10000 Example Usage Sending lockstep movement commands to a lockstep set 01 lockstep 1 move vel 10000 01 0 OK IDLE 0 01 lockstep 1 stop 401 0 OK BUSY O Sending non lockstep movement commands to an axis in a lockstep set 01 lockstep 1 setup 1 2 01 0 OK IDLE 0 01 1 move abs 1000 801 0 RJ IDLE LOCKSTEP The move abs command will be rejected and LOCKSTEP will be returned because only lockstep movement commands are allowed for axes in a lockstep set Maximum limits of all axes are enforced 01 lockstep 1 info 01 0 OK IDLE 1 2 500 0 01 get limit max 01 0 OK IDLE 300000 300000 01 lockstep 1 move abs 300000 01 0 RJ IDLE BADDATA The move abs command will be rejected and BADDATA returned because an absolute movement to the master axis axis 1 of 30000 would exceed the limit max of the slave axis axis 2 by the offset value of 500 Homing and Sensors When the lockstep home command is sent to a set they will retract together until any home sensor is detected Once the home sensor of an axis is detected the set will follow the actions for that home sensor including setting
62. llow LED s until the next command is received For example if the message is 01 tools echo the checksum is 48 4490 4 SZ b io c dit 11 E 108 1154 324 101 7 99 I04 1113 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 Checksumming 67 define CSUM NOTPRESENT define CSUM NOSPACE define CSUM FAIL define CSUM OK EON 00 int csum message char message unsigned int max length unsigned char c sum 0 char p messagetl if strlen message 6 max length skip the type character 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 02xX r n c sum return CSUM OK return CSUM_NOSPACE Verifying a received message
63. lue of the first slave axis compared to the master 4 the current twist value of the first slave axis compared to the master If there are additional slave axes items 2 3 and 4 would be listed for each axis as well If the lockstep set addressed is not currently active the command will return disabled Example Usage Requesting info for a lockstep set with two axes 01 lockstep 1 info 01 0 OK IDLE 12 525 0 The master axis in this case is axis 1 and axis 2 the slave axis is offset 525 microsteps from it There is currently no twist between the axes Response if lockstep set has not been enabled 01 lockstep 1 info 01 0 OK IDLE disabled Movement When a lockstep set of devices is enabled you can no longer address movement commands to the individual axes in the set Instead all of the standard movement commands have lockstep equivalents that can be sent to the device including the move commands home stop and estop Each of these commands will cause both axes to execute the movement together Offset Twist and Tolerance 25 Movement commands that require a reference position such as move abs ormove stored will use the axis defined as the master for the position reference To store a position to move to you would address tools storepos commands to the master axis The most restrictive position limit min limit max speed maxspeed and acceleration accel limit settings of all axes in the set wi
64. m will try to maintain this difference throughout movement commands as both axes are driven together Conditions may arise where the axes don t move together perfectly though Some examples are if one of the axes slips or stalls during motion if an external force is applied to one of the axes if the stages become out of alignment or if there s an obstruction in the movement of one axis The unexpected component of the difference in positions that s created between the axes is called twist Without position feedback the amount of twist can t be detected or corrected for Because of this it s strongly recommended to build systems using closed loop devices with integrated encoders so that the amount of twist can be managed There are two methods the controllers use to correct for twist Firstly they will move to untwist immediately before executing any lockstep movements including move commands manual movement and displacement recovery To untwist the slave axis or axes will move to make the correction unless this would move the slave axis outside its limits in which case the master axis will move The second correction is to stop movement if the twist exceeds a certain value defined by the lockstep tolerance setting of the slave axes This value is 0 by default so the acceptable tolerance of the system must be set by the user This tolerance will vary based on the construction of the system including the length between axes loading st
65. mit 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 limit sensor action 58 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 e 0 Disabled The sensor position is 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 li
66. mit 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 limit sensor pos 59 This setting is 1 when the sensor is active and O 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 command such as home or an automatic limit sensor action The sensor is one of home away c or d If an automatic limit sensor action is triggered on the home or away se
67. n constant velocity minimum position maximum position 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 Built in Help Command Scope Parameter s Returns Description Performs an emergency stop on the estop Axis 0 gency stop axis m Device ceni n Retrieves the current value of the and Axis g device or axis setting commands f f Displays the help information for the help Device reply 0 system command home Axis 0 Moves the axis to the home position y 3 Returns the number of I O channels io info Device X ailaoldoldi ports the device has i Returns the current value of the io get Device lailaoldoldi channel value m specified I O channel type ao channel value dg Sets the specified output channel to io set Device do channel value 0 P P value do port value value2 Refer to the 2 Refer to the f Sets up and controls synchronized lockstep Device documentation f documentation below motion of a set of parallel axes
68. nary to ASCII In order to change your device from Binary to ASCII follow these steps 1 Open Zaber Console 2 Select the Binary version of the COM port the device is connected to from the Serial Port dropdown and press Open 3 Highlight the device you would like to change from the Device list 4 Under the commands tab select the Show All checkbox 5 You should see the command Convert To Ascii cmd 124 Enter a value of 115200 into the Data field and press Send 15200 is the comm nicttons peetocsi to ASCE Tht command anta the badate n use for communicators ad ve Gove wil repy ce Une custert badit end protec then charge 1o De new sete after 00m press Open 7 Confirm that the device is visible ASCII to Binary In order to change your device from ASCII to Binary follow these steps 1 Open Zaber Console 2 Select the ASCII version of the COM port the device is connected to from the Serial Port dropdown and press Open 3 Highlight the device you would like to change from the Device list Under the commands tab select the Show All checkbox 5 You should see the command tools setcomm Enter a value of 9600 1 into the Data field and press Send A Appendix C Switching between Binary and ASCII Protocols 77 Sets a S232 baud mate and cormesricston protocol for ASIA and USE Scape Device Paranao m2Xbax praca 1230 npecfes the domed R5212 baud rate Ths parameter
69. ng warnings 46 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 particular 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 401 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 re
70. nsor with action 2 or nonzero posupdate 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 sensor state 60 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 to a value greater than the physical limits of the axis lockstep numlocksteps Number of lockstep sets Scope
71. nt position or the sensor s position is updated posupdate is nonzero 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 Warning Flags 14 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 is either idle or executing a manual control movement ND Stream Discontinuity The device has slowed down while following a streamed motion path because
72. o a buffers calling each other to too deep a level arcradius an arc was not congruent to a circle meaning that the arc s radius was significantly different between the start and end of the arc bufempty astream call tried to call an empty buffer buflocked astream call tried to call a buffer while it was being written to or erased bufaxes astream call tried to call a buffer that was recorded with the wrong number of axes system reset Resets the device as it would appear after power up Scope Device Parameters none 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 System reset 36 Scope Device Parameters message This command always returns a successful response with any message provided by the user Example Usage tools echo hi there 801 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 Parameters none This command replaces the home command on an axis equipped with both home and away limit sensors The axis is first home
73. o ttyUSBO Device converter now This shows that there are 3 serial ports available ttySO ttyS4 and ttyUSBO a USB adaptor 2 Checking port permissions Appendix B Available Serial Ports 75 Using the ports found above execute the following command ls 1 dev tty S0 S4 USBO The permissions given below show that a user has to be root or a member of the dialout group to be able to access these devices crw rw 1 root dialout 4 64 Oct 31 06 44 dev ttyS0 crw rw 1 root dialout 4 68 Oct 31 06 45 dev ttyS4 crw rw 1 root dialout 188 0 Oct 31 07 58 dev ttyUSBO 3 Checking group membership groups The output will be similar to the following adm cdrom sudo dip plugdev users lpadmin sambashare Notice that dialout is not in the list A user can be added to the dialout group with the following command sudo adduser SUSER dialout Group membership will not take effect until the next logon Windows 76 Appendix C Switching between Binary and ASCII Protocols If your device has firmware 6 06 or higher it can be set to use either the Binary command protocol or the ASCII command protocol By default all devices will start with the Binary protocol except the A MCB2 which starts with the ASCII protocol We suggest using our Zaber Console software to configure which protocol you would like to use although the commands to configure will be available to any software Bi
74. otor 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 address 5 805 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 49 Access Level norm The device includes checksums in its messages if this setting is 1 comm protocol The communications protocol used by the device on the current interface Scope Device Valid Range Refer to the protocol setting for the current interface Access Level norm When writing to this setting the device raises the Setting Update Pending NU notification flag and replies in the current protocol Once all the communications interfaces are idle the device switches to the new protocol and clears the Setting Update Pending NU flag comm rs232 baud The baud rate used by RS232 Prev and Next interfaces Scope Device Valid Range 9600 115200 Access Level norm Valid Settings e 9600 default for Binary in Zaber Console e 19200 e 38400 e 57600 e 115200 default for ASCII in Zaber Console All other serial parameters are 8 bits 1 stop bit No parity and no flow control When writing to this setting th
75. ply For the default values of the settings please refer to the Device and Peripheral Pages accel Determines the acceleration and deceleration used when changing speed 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 47 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 Passive Mode Slip conditions are detected and cause the blue LED to blink but no position correction is made nor is a warning flag set e 2 Stall Detection Same as passive mode but the axis will also detect and report stall
76. 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 l send 1 help The device will respond with a detailed description on how to access specific information about commands and replies as shown below 1 help 01 0 OK IDLE WR O 01 O COMMAND USAGE 010 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 5 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 mov 01 0 OK ID 01 0 move 01 0 move 01 0 move 01 0 move 01 0 move Quick Command Reference e LE 0 abs x rel x vel x min max Move to Move by Move at Move to Move to absolute position relative positio
77. rking park 01 1 RJ IDLE DEVICEONLY For commands with 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 18 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 401 0 OK IDLE 20022 Device id is 20022 A LSQ150B
78. rotocol from the list and click Open 4 Zaber Console will automatically find and list the devices in the chain as shown below uit ee udi sep med Doer 0 Using the Advanced tab text commands can be sent to the device s PuTTY 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 Set Local echo to Force on Set Local line editing to Force on Appendix A Communication Software 70 Eon pr Vacski zn socie Coni rato le has TI rel av Ein tH 2ud cibo i 3 Sen 1 Fase M vcn 4 Under the Session category Set the connection type to Serial Set the speed to 9600 Enter the COM port the device s are connected to Typically COMI if directly connected to a computer COM3 if using a USB adapter Enter a connection description Zaber Device Chain in this example and click save Next time the connection can be opened by double clicking on Zaber Device Chain in the Saved list Ei cr logig Tamel aiil pur ul P ain UNO RO 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
79. t 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 second 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 time 1 250 01 0 OK IDLE 0 trigger time 1 enable 240 401 0 OK IDLE 0 warnings Displays the active warnings for the device and axes Scope Axis Parameters clear 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 trigger time 45 1 warnings 801 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 warni
80. this case Moving in an arc 01 stream 1 arc rel ccw 5000 0 5000 5000 01 0 OK IDLE 0 Moves a quarter circle to the end position 5000 5000 microsteps from the start position The centre of the quarter circle is at 5000 O microsteps from the start position Invalid arc 01 stream 1 arc rel ccw 5000 0 10000 10000 01 0 OK IDLE 0 01 0 OK IDLE FB 0 There is no circle with a relative centre 5000 0 microsteps that also passes through 10000 10000 While the invalid command is accepted the FB fault flag becomes active once the controller determines the path is invalid Single axis movements 01 stream 1 line abs 5000 401 0 OK IDLE O Single axis streams can use the line command but circle and arc commands can only be used in 2 axis streams Trajectory Control Three physical limits are defined that apply to streamed motion maxspeed is the maximum speed in the direction of motion If not explicitly set this defaults to the lower of the maxspeed settings for the axes e tanaccel is the maximum acceleration rate for the device to speed up and slow down If not explicitly set this defaults to the lower of the motion accelonly and motion decelonly settings for the axes divided by 2 centripaccel isthe maximum acceleration rate used for arcs and circles If not explicitly set this defaults to the lower of the motion accelonly and motion decelonly settings for the a
81. ties Invalid port type io info as 801 0 RJ IDLE BADCOMMAND 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 21 Reading an analog input io get ai 2 401 0 OK IDLE 7 5 Analog input 2 has 7 5V on it Reading all digital outputs io get do 01 0 OK IDLE 00 10 Digital output 3 is high while the rest are low Invalid port type io get as 0 801 0 RJ IDLE BADCOMMAND Invalid channel number using the available channels from the io info command above io get ai 5 801 0 RJ IDLE BADDATA io get ao 801 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 val
82. ue of 0 clears the output while any other value sets it Specifying port allows setting of all digital outputs at once Example Usage Clear digital output 3 io set do 3 0 801 0 OK IDLE O io get 22 Using the port command to set digital output 1 3 4 and clear output 2 io set do port 10 1 1 01 0 OK IDLE 0 Invalid port type io set ad 2 50 801 0 RJ IDLE BADCOMMAND Port type that s not an output or has no channels io set ai 2 50 801 0 RJ IDLE BADDATA io set ao 2 50 801 0 RJ IDLE BADDATA Invalid channel number io set do 8 1 801 0 RJ IDLE BADDATA lockstep Sets up and controls synchronized motion of a set of parallel axes Scope Device Parameters number setup enable axes number setup disable number info number estop number home number move abs rel vel value number move min max number move stored number number stop Lockstep commands allow multiple axes of a device to be driven in lockstep always at exactly the same speed suitable for driving the two sides of a parallel gantry mechanism Setup Devices that allow lockstep commands will have a non zero lockstep numgroups setting showing how many simultaneous sets of lockstepped axes you can have set on the device The number of the lockstep set you are addressing is the first number parameter in any of the above lockstep commands Lockstep commands will only be availab
83. ut the contents of a buffer 01 stream buffer 2 print 01 0 OK IDLE WR 0 01 0 setup store 2 2 01 0 line abs 400000 500000 01 0 io set do 4 01 0 wait 100 01 0 arc rel ccw 100000 100000 200000 O 01 0 setup disable Replacing the 01 0 with 01 stream 1 in each line yields a sequence of commands that perfectly reproduces the stored sequence when sent to another device or the same device if the buffer 1s erased first Printing an empty buffer 01 stream buffer 3 print 01 0 RJ IDLE WR BADDATA Buffer 3 was erased or was never used so it cannot be printed Information To read out information about a stream use the stream info command This command returns a list of space separated values which are in order 1 the stream mode one of disabled live or store 2 the axis count or if the stream is disabled 3 the maximum centripetal acceleration or if the stream is not in live mode 4 the maximum tangential acceleration or if the stream is not in live mode 5 the maximum speed or if the stream is not in live mode 6 an error reason indicating why flag FB was set or if FB was not set on this stream The possible error reasons are axislimit a motion tried to move the device beyond the positional limits setting astream set tried to set a setting to an illegal value stackdepth Information 35 stream operations were nested too deeply most likely due t
84. vices 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 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 s
85. xes divided by 22 Interpolated Movement Lines Arcs and Circles 32 These settings can be changed with the stream set command The settings do not change immediately but in sequence after the previous stream command is completed The device manages its speed to ensure that all limits are obeyed at all times for example if maxspeed is increased between two movement commands the device will speed up after passing the end position of the first movement whereas if it is decreased the device will slow down before reaching the end position of the first movement Example Usage Changing speeds during a movement 01 stream 1 line rel 5000 0 01 0 OK IDLE 0 01 stream 1 set maxspeed 50000 01 0 OK IDLE 0 01 stream 1 set tanaccel 200 01 0 OK IDLE 0 01 stream 1 line rel 10000 O 01 0 OK IDLE 0 The speed and acceleration will be in effect after the first movement If the new speed is lower it will decelerate before the first line is completed lOs and Waiting You can insert other commands as well in sequence such as waiting a certain amount of time wait milliseconds changing outputs io set do or waiting for input conditions wait io Example Usage Set digital output 01 stream 1 io set do 4 1 01 0 OK IDLE 0 Digital output 4 is enabled at a point in the stream Wait for a certain amount of time 01 stream 1 wait 1000 01 0 OK IDLE 0 Stream
86. y the device and motors system led enable Device Yes Enables the front panel LEDs system temperature Device No The current temperature of the unit in degrees Celsius system voltage Device No The voltage being applied to the device version Device No The firmware version of the device Quick Device Settings 10 Message Format The protocol uses a command reply model such that 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 except the case mentioned in the Message IDs section below 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 See the Message IDs section below for an alternate message format option 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 operation A typical command message and associated fields are 1 1 move abs 10000
87. ys contains a CR LF combination r n for a info message The common occurrence of info messages is in reply to a help command e g 1 help 01 0 OK IDLE WR O 01 O COMMAND USAGE 010 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 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 01 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 the axis is moving and IDLE when the axis is stopped ww Warning flags Length 2 bytes Alerts 16 Contains the highest priority w

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