T-LA Product User`s Manual Firmware 5.00 and up Last Update

T-LA Product User`s Manual Firmware 5.00 and up Last Update
T-LA Product
User's Manual
Firmware 5.00 and up
Last Update: December 10 2015
Visit www.zaber.com/wiki for more recent updates.
Zaber Technologies Inc.
#2 - 605 West Kent Ave. N.
Vancouver, British Columbia
Canada, V6P 6T7
Table of Contents
Disclaimer...........................................................................................................................................................1
Precautions.........................................................................................................................................................2
Special Note............................................................................................................................................2
Lubrication..............................................................................................................................................2
Initial Setup and Testing...................................................................................................................................3
Installation..........................................................................................................................................................4
Connection to a Computer......................................................................................................................4
Data Cable Wiring Diagram...................................................................................................................4
Connecting Vacuum Compatible Devices..............................................................................................5
Physical Installation................................................................................................................................6
Mounting..........................................................................................................................................6
Grounding.........................................................................................................................................6
Control Through The RS-232 Serial Port.......................................................................................................7
Examples.................................................................................................................................................7
Data Conversion Algorithms..................................................................................................................8
Sample Waveforms.................................................................................................................................8
Quick Command Reference............................................................................................................................10
Detailed Command Reference........................................................................................................................12
Reset - Cmd 0.......................................................................................................................................12
Special Note...................................................................................................................................12
Home - Cmd 1.......................................................................................................................................12
Renumber - Cmd 2................................................................................................................................13
Store Current Position - Cmd 16...........................................................................................................14
Return Stored Position - Cmd 17..........................................................................................................14
Move To Stored Position - Cmd 18......................................................................................................14
Move Absolute - Cmd 20......................................................................................................................15
Move Relative - Cmd 21.......................................................................................................................16
Move At Constant Speed - Cmd 22......................................................................................................16
Stop - Cmd 23.......................................................................................................................................17
Read Or Write Memory - Cmd 35........................................................................................................18
Restore Settings - Cmd 36....................................................................................................................18
Set Microstep Resolution - Cmd 37......................................................................................................19
Set Running Current - Cmd 38.............................................................................................................20
Set Hold Current - Cmd 39...................................................................................................................21
Set Device Mode - Cmd 40...................................................................................................................22
Set Home Speed - Cmd 41....................................................................................................................25
Set Target Speed - Cmd 42...................................................................................................................26
Set Acceleration - Cmd 43....................................................................................................................27
Set Maximum Position - Cmd 44.........................................................................................................28
Set Current Position - Cmd 45..............................................................................................................29
Set Maximum Relative Move - Cmd 46...............................................................................................29
Set Home Offset - Cmd 47....................................................................................................................30
i
Table of Contents
Detailed Command Reference
Set Alias Number - Cmd 48..................................................................................................................31
Set Lock State - Cmd 49.......................................................................................................................31
Return Device Id - Cmd 50...................................................................................................................32
Return Firmware Version - Cmd 51.....................................................................................................32
Return Power Supply Voltage - Cmd 52..............................................................................................33
Return Setting - Cmd 53.......................................................................................................................33
Return Status - Cmd 54.........................................................................................................................34
Echo Data - Cmd 55..............................................................................................................................34
Return Current Position - Cmd 60........................................................................................................35
Reply-Only Reference......................................................................................................................................36
Move Tracking - Cmd 8........................................................................................................................36
Limit Active - Cmd 9............................................................................................................................36
Manual Move Tracking - Cmd 10........................................................................................................37
Error - Cmd 255....................................................................................................................................37
Error Codes.....................................................................................................................................38
Manual Control................................................................................................................................................40
LED functions...................................................................................................................................................41
Troubleshooting T-Series Motion Devices.....................................................................................................42
Warranty and Repair......................................................................................................................................46
Standard products..................................................................................................................................46
Custom products...................................................................................................................................46
How to return products.........................................................................................................................46
Email Updates..................................................................................................................................................47
Contact Information........................................................................................................................................48
Appendix A: Default Settings.........................................................................................................................49
Appendix B: Device Specifications.................................................................................................................50
Comparison - T-LA Series.....................................................................................................................52
ii
Disclaimer
Zaber’s devices are not intended for use in any critical medical, aviation, or military applications or situations
where a product's use or failure could cause personal injury, death, or damage to property. Zaber disclaims
any and all liability for injury or other damages resulting from the use of our products.
Disclaimer
1
Precautions
Zaber’s motion control devices are precision instruments and must be handled with care. In particular, moving
parts must be treated with care. Avoid axial loads in excess of the rated thrust load, axial and radial impact,
dust and other contaminants and damage to the leadscrew thread. These will reduce the performance of the
device below stated specifications.
Special Note
The plunger should always be left in the fully retracted position (home) when not in use.
Lubrication
Performance depends very much on the condition of the leadscrew, so the leadscrew should be cleaned
periodically for best results. To clean the screw, first use isopropyl alcohol to dissolve old grease and
contaminants. There are plastic components that may be damaged by some strong solvents. Apply a small
amount of grease. The grease will reduce friction, backlash and sticktion. We use NyeClean 5077 vacuum
grease available from www.nyelubricants.com. A similar grease with a compatible thickener and lubricant are
also suitable.
Precautions
2
Initial Setup and Testing
If you are unfamiliar with T-series devices, you may wish to perform a few simple steps to familiarize
yourself with their operation. First you will need a power supply. If you did not add one to your order, you
will require a power supply that matches the voltage requirement of the device. Some T-series products,
usually devices that run on 12 - 16 V, transmit power between devices through the data cables. The chosen
power supply must be rated to handle the maximum total current draw of all devices connected to it. When
powering long chains of devices, we recommend connecting a power supply to at least every 3rd device in the
chain to reduce the current through the data cables. Devices that run on more than 16 V do not transmit power
through the data cables.
Once you have a working power supply, you can test the operation of your device. Try turning the
potentiometer (if applicable) counterclockwise to home the device. When operating manually, you should
home the device by retracting it completely every time you disconnect or turn off the power. You will not be
able to achieve the maximum travel until you have homed the device or sent a command to tell the device its
current position. After the device retracts completely it will stop automatically and you can turn the
potentiometer clockwise to move the device. If you have a model without a potentiometer, you cannot control
the device manually. Instead you must connect the device to a computer and issue a home instruction.
Initial Setup and Testing
3
Installation
Connection to a Computer
Connect the device to a computer as follows:
1. Either plug the Mini-DIN to D-Sub serial adaptor (T-DSUB9) into your computer’s serial port, or the
Mini-DIN to USB adapter (T-USBDC) into one of your computer's USB ports, then plug the device’s data
cable into the adaptor. For the USB adaptor, new computers will often be able to install the necessary drivers
automatically when the cable is plugged in for the first time. If the computer reports that the driver installation
was unsuccessful, you can download the drivers for Windows, Mac, or Linux here. Installation instructions
and troubleshooting information are available for each operation system here. You may need to use a cable
extension to reach your computer. There is no need to power-down or reboot the computer.
2. Connect the power plug of your power supply to the power connector of the device (figure 2). If present,
the green LED should light up indicating the device has power (some devices may not have LEDs).
3. If your device comes with a knob for manually adjusting the actuator's position, set the knob to the neutral
position between forward and backward. At this point, you will feel a slight detent and the yellow light (if
present) will turn off. For the device to receive computer commands, the manual knob must be in the neutral
position.
4. Additional devices can simply be daisy-chained to the first (figure 3). For long chains of devices that daisy
chain power, a power supply should be connected at every 2nd or 3rd device. A renumber command needs to
be issued after a new device is connected, before it can be controlled independently.
5. Install software from http://www.zaber.com/wiki/Software (figure 4). We recommend installing the Zaber
Console to get started. As a simple first test, try entering these instructions:
Renumber all devices
Home device 1
Move device 1 to 10,000 microsteps
- Device: 0, Cmd: 2, Data: 0
- Device: 1, Cmd: 1, Data: 0
- Device: 1, Cmd: 20, Data: 10000
To see the microstep distance (resolution) for your device, see the specs page for that device on the respective
product page .
Figure 1
Figure 2
Figure 3
Figure 4
Data Cable Wiring Diagram
Pin#
Minidin 6 Female
(to next device)
Installation
Minidin 6 Male
(to previous device)
4
1
2
Receive (from next device) Transmit (toward computer)
3
Ground
Ground
4
+12-16 Vdc *
+12-16 Vdc *
5
6
Transmit (to next device)
Receive (from computer)
nc * T-Series 12-16V devices only (all T-series devices, except
T-LSQ, T-LST, T-MCA)
Note that multiple cable suppliers have been used over the years, each implementing different color codes.
Rather than relying on the wire colors, it is recommended that users perform a continuity test to determine
which wires are connected to which pins on their own device.
To connect a Zaber device to a computer serial port requires a T-DSUB9 adaptor. It looks similar to an old
PS/2 serial mouse adaptor, but it has different wiring.
Connecting Vacuum Compatible Devices
These Zaber products are available in a vacuum compatible version. Vacuum compatible devices (identifiable
by the suffix “-V” in the part number) have special requirements for their connection to a computer.
Power: No power connectors are provided on vacuum compatible devices. Instead, power must be supplied
through the data cable lines. A special serial adapter with power input is provided.
Data Cables: Vacuum compatible devices use the same mini-din data cable extensions as our standard
devices; however, the cable jacket is stripped back to the connectors to expose the individual wires. The
mini-din connectors are left attached to facilitate easy testing. In your final application you can cut the wires
and splice them to a feed-through on your vacuum chamber. Communication lines can be wired back to the
appropriate mini-din connector outside your vacuum chamber. Power lines can be wired to any appropriate
power supply. See the table below for pinouts. If you have multiple units inside the same vacuum chamber
you may connect them using the attached mini-din connectors, or for improved vacuum compatibility you
may remove the connectors and permanently wire the units together.
Grounding: When re-wiring Zaber devices it is important to wire the ground to both the computer and the
power supply (see diagram below). Alternately, the T-DSUB9-P vacuum adaptor can be substituted into an
order to make this connection.
Data Cable Wiring Diagram
5
Physical Installation
Mounting
When mounting a Zaber linear actuator, care must be taken not to over-constrain the leadscrew. At the point
of contact between the leadscrew and the object to be moved there are 6 degrees of freedom which can be
constrained: translation along xyz axes and rotation about those axes. The load should constrain only the axial
translation of the leadscrew. The simplest way to achieve this is to have the lead screw press against a flat
surface perpendicular to the axis of the leadscrew. Any further constraint (such as rigidly fixing the leadscrew
to the load) may result in an over-constrained system that will reduce thrust or cause the leadscrew to bind.
You can mount the actuator by sliding the 9.5mm mounting shank through the hole on a translation stage (like
our TSB stages). Tighten a clamp around the shank or secure the included 3/8-32 screw on the other side of
the hole. Some actuators also have mounting holes on the side or bottom of the actuator, and come with
mounting screws.
Grounding
To prevent damage to the device due to static buildup, the device should be properly grounded.
Failure to ground the unit may result in the unit shutting down unexpectedly or ceasing to communicate with
the computer. This problem can be minimized by not touching the unit during operation. If the unit fails due
to static discharge, unplugging it and plugging it back in or sending a Restore Settings command will usually
fix the problem.
Most Zaber devices are grounded via the shield wire of the data cables. This should normally provide a path to
ground via the computer. For units which are being used without a computer, a ground lead should be
connected to the shield of one of the data cables.
The T-LA is particularly sensitive to static discharge at the front mount. For best results, avoid touching the
front mount of the T-LA while the device is in operation.
Connecting Vacuum Compatible Devices
6
Control Through The RS-232 Serial Port
All T-Series devices use the same RS232 communications protocol. Your communications settings must be:
9600 baud, no hand shaking, 8 data bits, no parity, one stop bit. The yellow LED will light when there is
activity on the RS232 lines. You may use this feature to determine which COM port you are connected to. We
recommend using the Zaber Console that you can download from our web site. The source code is also
available for you to use as an example for writing your own custom code. See the troubleshooting section later
in this manual if you have trouble communicating with the device.
Important: The first time you connect a device to your computer you must issue a renumber instruction to
assign each device a unique identifier. This should be done after all the devices in the daisy-chain are powered
up. In older firmware versions (prior to version 5xx) you must issue a renumber instruction after each
powerup. In firmware 5xx and up, the device number is stored in non-volatile memory and will persist after
powerdown, so you need only issue the renumber instruction when you add new devices to the chain, or
rearrange the order of the devices, however it does no harm to issue the renumber instruction after every
powerup. You must not transmit any instructions while the chain is renumbering or the renumbering routine
may be corrupted. Renumbering takes less than a second, after which you may start issuing instructions over
the RS232 connection.
All instructions consist of a group of 6 bytes. They must be transmitted with less than 10 ms between each
byte. If the device has received less than 6 bytes and then a period longer than 10 ms passes, it ignores the
bytes already received. We recommend that your software behave similarly when receiving data from the
devices, especially in a noisy environment like a pulsed laser lab.
The following table shows the instruction format:
• Byte 1 - Device #
• Byte 2 - Command #
• Byte 3 - Data - Least Significant Byte (LSB)
• Byte 4 - Data
• Byte 5 - Data
• Byte 6 - Data - Most Significant Byte (MSB)
The first byte is the device number in the daisy-chain. Device number 1 is the closest device to the computer
and device number 2 is next and so on. If the number 0 is used, all the devices in the chain will process the
accompanying command simultaneously.
The second byte is the command number. Bytes 3, 4, 5, and 6 are data in long integer, 2’s complement format
with the least significant byte transmitted first. How the command data are interpreted depends on the
command. Complete details are given in the command reference on the following page.
Examples
• All devices renumber: 0, 2, 0, 0, 0, 0
• All devices home: 0, 1, 0, 0, 0, 0
• All devices return firmware version: 0, 51, 0, 0, 0, 0
• Device 1 move to an absolute position (command 20) of 257 microsteps: 1, 20, 1, 1, 0, 0
• Device 2 move to a relative position (command 21) of -1 microstep: 2, 21, 255, 255, 255, 255
Control Through The RS-232 Serial Port
7
Most instructions cause the device to reply with a return code. It is also a group of 6 bytes. The first byte is the
device #. Byte #2 is the instruction just completed or 255 (0xFF) if an error occurs. Bytes 3, 4, 5 and 6 are
data bytes in the same format as the instruction command data.
Data Conversion Algorithms
If you are writing software to control Zaber products, you'll likely need to generate data bytes 3 through 6
from a single data value, or vise versa. The following pseudo-code can be used as a model.
Converting command data into command bytes to send to Zaber products
If Cmd_Data < 0 then Cmd_Data
Cmd_Byte_6 = Cmd_Data / 256^3
Cmd_Data
= Cmd_Data - 256^3
Cmd_Byte_5 = Cmd_Data / 256^2
Cmd_Data
= Cmd_Data - 256^2
Cmd_Byte_4 = Cmd_Data / 256
Cmd_Data
= Cmd_Data - 256
Cmd_Byte 3 = Cmd_Data
= 256^4 + Cmd_Data
'
* Cmd_Byte_6
* Cmd_Byte_5
* Cmd_Byte_4
Converting reply bytes into a single reply data value
Reply_Data = 256^3 * Rpl_Byte 6 + 256^2 * Rpl_Byte_5 + 256 * Rpl_Byte_4 + Rpl_Byte_3
If Rpl_Byte_6 > 127 then Reply_Data = Reply_Data - 256^4
'
Sample Waveforms
If you are designing hardware to interface with Zaber products, it may be useful to see some sample
waveforms.
This image shows an instruction (top waveform) and a reply
(bottom waveform).
This is a closeup of the instruction bytes. Note that the voltage
swing of the instruction waveform is about +/-10V. This is
typical of the USB to RS232 converter to which the device is
connected. The instruction bytes are 0, 51, 0, 0, 0, 0 indicating
the instruction: Device: All, Command: Return version, Data: 0.
Examples
8
This is a closeup of the instruction byte 2. The "S" on either end
represents the start and stop bits respectively. The start bit is
always positive and the stop bit is always negative. The bit
sequence is Start, 0, 1, 2, 3, 4, 5, 6, 7, Stop. The data is output
with the least significant bit first, so the byte shown is actually
00110011 in binary or 32+16+2+1 = 51 in decimal.
It's a good idea to do a timing "reality check" whenever viewing
a waveform such as this. The bit rate should be 9600
bits/second. The time scale in the image is 200 us/division.
Since a byte consists of 10 bits (start, stop, plus 8 data bits) and
the bit rate is 9600 bits/s, the duration of a single byte should be
1.04 ms (10/9600 seconds) or about 5.2 divisions at 200
us/division. It can be seen in the image that this is the case.
This is a closeup of the reply bytes. Note that the voltage swing
of the reply waveform is about +/-8V. This is a typical output
from the RS232 driver chip used in Zaber devices. The
instruction was to all devices. Only a single device is present so
there is only one reply. The reply is 1, 51, 252, 1, 0, 0 indicating
the reply "Device: 1, Reply: Firmware version, Data: 508". The
data is the last 4 bytes combined, with least significant byte
first. In this case the data is 0*256^3 + 0*256^2 + 1*256 + 252
= 508. This indicates a firmware version of 5.08 since according
to the instruction specification a decimal is assumed before the
last two digits.
The time scale in this image is 1 ms/division. As noted above, at
a bit rate of 9600 bits/second each byte should take 1.04 ms.
Therefore a 6 byte reply should take 6.24 ms. It can be seen in
the image that this is the case.
Sample Waveforms
9
Quick Command Reference
The following table offers a quick command reference for motorized devices running firmware version 5xx.
For convenience, you may sort the table below by instruction name, command number, or reply number.
Follow the links to view a detailed description of each instruction.
Instruction Name
Command#
Command Data
Command Type
Reply Data
Reset
0
Ignored
Command
None
Home
1
Ignored
Command
Final position
(in this case 0)
Renumber*
2
Ignored
Command
Device Id
Move Tracking
8
n/a
Reply
Tracking
Position
Limit Active
9
n/a
Reply
Final Position
Manual Move Tracking
10
n/a
Reply
Tracking
Position
Store Current Position*
16
Address
Command
Address
Return Stored Position
17
Address
Command
Stored Position
Move To Stored Position
18
Address
Command
Final Position
Move Absolute
20
Absolute Position
Command
Final Position
Move Relative
21
Relative Position
Command
Final Position
Move At Constant Speed
22
Speed
Command
Speed
Stop
23
Ignored
Command
Final Position
Read Or Write Memory*
35
Data
Command
Data
Restore Settings*
36
Peripheral Id
Command
Peripheral Id
Set Microstep Resolution*
37
Microsteps
Setting
Microsteps
Set Running Current*
38
Value
Setting
Value
Set Hold Current*
39
Value
Setting
Value
Set Device Mode*
40
Mode
Setting
Mode
Set Home Speed*
41
Speed
Setting
Speed
Set Target Speed*
42
Speed
Setting
Speed
Set Acceleration*
43
Acceleration
Setting
Acceleration
Set Maximum Position*
44
Range
Setting
Range
Set Current Position
45
New Position
Setting
New Position
Set Maximum Relative Move* 46
Range
Setting
Range
Set Home Offset*
47
Offset
Setting
Offset
Set Alias Number*
48
Alias Number
Setting
Alias Number
Set Lock State*
49
Lock Status
Command
Lock Status
Return Device Id
50
Ignored
Read-Only Setting
Device Id
Return Firmware Version
51
Ignored
Read-Only Setting
Version
Quick Command Reference
10
Return Power Supply Voltage
52
Ignored
Read-Only Setting
Voltage
Return Setting
53
Setting Number
Command
Setting Value
Return Status
54
Ignored
Read-Only Setting
Status
Echo Data
55
Data
Command
Data
Return Current Position
60
Ignored
Read-Only Setting
Position
Error
255
n/a
Reply
Error Code
* The settings for these commands are saved in non-volatile memory, i.e. the setting persists even if the
device is powered down. To restore all settings to factory default, use command 36.
Quick Command Reference
11
Detailed Command Reference
This command reference applies only to firmware version 5.00 and up to the most recent version. The version
of firmware installed on any Zaber T-Series device can be determined by issuing command #51. A three-digit
number will be returned. Assume 2 decimal places (ex a reply of 293 indicates firmware version 2.93). For
earlier versions of firmware, please consult the appropriate PDF user's manual:
T-Series Manual 2xx (PDF)
T-Series Manual 4xx (PDF)
Due to the addition of new features, newer versions of firmware may not be 100% backward compatible. You
may wish to read the document Firmware History and Migration which outlines the changes that have taken
place from one firmware version to the next and indicates what options are available if you wish to upgrade or
downgrade the firmware on your devices.
Reset - Cmd 0
Instruction Name
Reset
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
0
Command Type
Command
Command Data
Ignored
Reply Data
None
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Sets the device to its power-up condition.
This has the same effect as unplugging and restarting the device.
Special Note
The position stored in the device prior to this command will be lost, so you must save it and reload it if it is
important. All non-volatile settings (i.e. Device Number, Target Velocity, etc.) are saved and are not affected
by reset or power-down.
Home - Cmd 1
Instruction Name
Applies to
Firmware Version
Command Number
Home
T-Series motorized devices
5.xx
1
Detailed Command Reference
12
Command Type
Command
Command Data
Ignored
Reply Data
Final Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
n/a
Summary
Moves to the home position and resets the device's internal position.
Upon receiving this instruction, the device will retract until its internal home sensor is triggered. It will then
move forward several steps to avoid accidentally re-triggering the home sensor during use. Its internal
position is then reset (to 0 for most devices). If a home offset has been specified with the Set Home Offset
(cmd 47) instruction, the device will move forward for the specific offset, then reset the internal position.
Prior to Firmware 5.21, the device will attempt to home for an extended amount of time. For Firmware 5.21
and up, the home command aborts with an error if the device has traveled twice the Maximum Position setting
without triggering the home sensor. This indicates that the device could possibly be stalling or slipping.
Renumber - Cmd 2
Instruction Name
Renumber
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
2
Command Type
Command
Command Data
New Number
Reply Data
Device Id
Safe to retry?
Yes
Returns Current
No
Position?
Persistence
Non-Volatile
Summary
Assigns new numbers to all the devices in the order in which they are connected.
This command is usually sent to device number 0. When it is, the command data is ignored and all devices
will renumber. The device closest to the computer becomes device number 1. The next device becomes
number 2 and so on.
If sent to a device number other than 0, then that device will reassign itself the device number in the command
data. Valid device numbers are 1-99 for version 6.05, and 1-254 otherwise.
Note: Renumbering takes about 1/2 a second during which time the computer must not send any further data.
The device number is stored in non-volatile memory so you can renumber once and not worry about issuing
the renumber instruction again after each power-up.
Home - Cmd 1
13
Store Current Position - Cmd 16
Instruction Name
Store Current Position
Applies to
All motorized devices
Firmware Version
5.04 and up
Command Number
16
Command Type
Command
Command Data
Address
Reply Data
Address
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Saves the current absolute position of the device.
Valid Address values are 0 through 15 specifying one of 16 possible registers in which to store the position.
This command can only be executed when the device has been homed. This command is used in conjunction
with the Return Stored Position (Command #17) and Move To Stored Position (Command #18) instructions.
The positions stored in the position registers are non-volatile and will persist after power-down or reset. All
position registers are cleared by the Restore Settings (Command #36) instruction.
Return Stored Position - Cmd 17
Instruction Name
Return Stored Position
Applies to
All motorized devices
Firmware Version
5.04 and up
Command Number
17
Command Type
Command
Command Data
Address
Reply Data
Stored Position
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Returns the position stored in one of the 16 position registers for the device.
Valid command data values are 0 through 15, specifying one of 16 possible registers from which to retrieve
the position. This command is used in conjunction with the Store Current Position (#16) and Move To Stored
Position (#18) commands. Positions stored in the position registers are non-volatile and will persist after
power-down or reset. All position registers are cleared by the Restore Settings (#36) command.
Move To Stored Position - Cmd 18
Instruction Name
Applies to
Move To Stored Position
All motorized devices
Store Current Position - Cmd 16
14
Firmware Version
5.04 and up
Command Number
18
Command Type
Command
Command Data
Address
Reply Data
Final Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
n/a
Summary
Moves the device to the stored position specified by the Command Data.
Valid address values are 0 through 15, specifying one of 16 possible positions. This command is used in
conjunction with the Store Current Position (#16) and Return Stored Position (#17) commands. This
command does not send a response until the move has finished. All move commands are pre-emptive. If a
new move command is issued before the previous move command is finished, the device will immediately
move to the new position.
The target speed and acceleration during a move absolute instruction can be specified using Set Target Speed
(Cmd 42) and Set Acceleration (Cmd 43) respectively.
This command may pre-empt, or be pre-empted by Move to Stored Position (Cmd 18), Move Absolute (Cmd
20), Move Relative (Cmd 21), Move at Constant Speed (Cmd 22) and Stop (Cmd 23).
Move Absolute - Cmd 20
Instruction Name
Move Absolute
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
20
Command Type
Command
Command Data
Absolute Position
Reply Data
Final Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
n/a
Summary
Moves the device to the position specified in the Command Data in microsteps.
The device begins to move immediately, and sends a response when the move has finished. The position must
be between 0 and Maximum Position (specified by Set Maximum Position (cmd 44)), or an error code will be
returned.
The target speed and acceleration during a move absolute instruction can be specified using Set Target Speed
(Cmd 42) and Set Acceleration (Cmd 43) respectively.
All move commands are pre-emptive. If a new move command is issued before the previous move command
is finished, the device will immediately move to the new position. This command may pre-empt, or be
pre-empted by Move to Stored Position (Cmd 18), Move Absolute (Cmd 20), Move Relative (Cmd 21), Move
at Constant Speed (Cmd 22) and Stop (Cmd 23).
Move To Stored Position - Cmd 18
15
Move Relative - Cmd 21
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Reply Data
Safe to retry?
Returns Current
Position?
Persistence
Summary
Move Relative
T-Series motorized devices
5.xx
21
Command
Relative Position
Final Position
No
Yes
n/a
Moves the device by the positive or negative number of microsteps specified in the
Command Data.
The device moves to a position given by its current position plus the value specified in the command data.
The relative move command data in microsteps can be positive or negative. The final position must be
between 0 and Maximum Position (specified by Set Maximum Position (cmd 44)), or an error code will be
returned. The device begins to move immediately, and sends a response when the move has finished.
The target speed and acceleration during a move absolute instruction can be specified using Set Target Speed
(Cmd 42) and Set Acceleration (Cmd 43) respectively.
All move commands are pre-emptive. If a new move command is issued before the previous move command
is finished, the device will immediately move to the new position. If a Move Relative command is issued
while the device is currently moving due to a previous command, the device will immediately set a new target
position equal to the current position (at the instant the command was received) plus the specified relative
position.
This command may pre-empt, or be pre-empted by Move to Stored Position (Cmd 18), Move Absolute (Cmd
20), Move Relative (Cmd 21), Move at Constant Speed (Cmd 22) and Stop (Cmd 23).
Move At Constant Speed - Cmd 22
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Reply Data
Safe to retry?
Returns Current Position?
Move Relative - Cmd 21
Move At Constant Speed
T-Series motorized devices
5.xx
22
Command
Speed
Speed
Yes
No
16
n/a
Moves the device at a constant speed based on the value specified in the
Command Data.
This instruction specifies a direction and a speed to move, rather than a target position. When this instruction
is issued the device will accelerate (at a rate determined by command #43 Set Acceleration) to the speed
specified by the instruction data. The device will continue moving at this speed until a limit is reached or a
pre-empting instruction is issued. Negative speeds cause retraction while positive speeds cause extension.
Unlike the other movement commands, this command sends a response immediately without waiting for the
move to finish.
Persistence
Summary
The device may be set to return its position continuously during the move using the set mode command (#40)]
bit 4. Position tracking is a reply-only command #8. If the device runs into zero position or maximum range,
the device stops and the new position is returned via reply-only command #9.
This command may pre-empt, or be pre-empted by commands 18, 20, 21, 22 and 23.
For a spreadsheet that can be used to calculate speed setting values for any product see
http://www.zaber.com/documents/ZaberSpeedSetting.xls. Alternatively you may use the formulas below.
Actual Speed
= Data * 9.375 * M mm/s or deg/s
= Data * 9.375 microsteps/s
= Data * 9.375 / R steps/s
= Data * 9.375 / (R x S) * 60 revolutions/min Motor rpm
= Data * 9.375 * L / (R x S) mm/s Linear devices only
where:
• Data is the value of the command data
• R (microsteps/step) is the microstep resolution (command 37)
• S (steps/revolution) is the number of steps per motor revolution
• M (mm or deg) is the microstep size
• L (mm or deg) is the distance of linear motion per motor revolution
Refer to product specifications for the distance corresponding to a single microstep or revolution.
For example, if a motor has 48 steps per revolution (S = 48), used with default resolution (R = 64), and Data is
2922, then the motor will move at a speed of approximately 535 revolutions per minute.
Valid data values are from (?512×R?1) to (512×R?1). Note that a value of zero will cause the device to
decelerate to a stop and then send Limit Active (Cmd 9).
Stop - Cmd 23
Instruction Name
Applies to
Stop
T-Series motorized devices
Move At Constant Speed - Cmd 22
17
Firmware Version
5.xx
Command Number
23
Command Type
Command
Command Data
Ignored
Reply Data
Final Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
n/a
Summary
Stops the device from moving by preempting any move instruction.
This instruction can be used to pre-empt any move instruction. The device will decelerate to a stop. The reply
data is the absolute position after stopping.
The device will decelerate at a rate specified by Set Acceleration (Cmd 43).
This command may pre-empt, or be pre-empted by Move to Stored Position (Cmd 18), Move Absolute (Cmd
20), Move Relative (Cmd 21), Move at Constant Speed (Cmd 22) and Stop (Cmd 23).
Read Or Write Memory - Cmd 35
Instruction Name
Read Or Write Memory
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
35
Command Type
Command
Command Data
Data
Reply Data
Data
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Reads or writes a byte of non-volatile memory.
128 bytes of memory are available for user data. For example, the user may want to save some custom data
such as a serial number, a name string, or data that uniquely identifies a particular device. Data written is not
cleared by power down or reset. The most significant bit of byte 3 specifies whether the instruction is a read
(0) or a write (1). The least significant 7 bits of byte 3 specify the address to read/write (0 to 127). Byte 4
specifies the value to be written. Bytes 5 and 6 are ignored.
These settings are stored in non-volatile memory and will persist after power-down or reset.
Restore Settings - Cmd 36
Instruction Name
Applies to
Stop - Cmd 23
Restore Settings
All Zaber devices except controllers
18
Firmware Version
5.00 and up
Command Number
36
Command Type
Command
Command Data
Peripheral Id
Reply Data
Peripheral Id
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Restores the device settings to the factory defaults.
This command should be issued with a Peripheral Id of 0 to return the device to factory default settings. This
instruction is very useful for troubleshooting. If the device does not appear to function properly, it may be
because some of the settings have been changed. This instruction will restore the settings to default values.
For a table of default settings, see Appendix A. All settings affected by this instruction are stored in
non-volatile memory and will persist after power-down or reset.
Set Microstep Resolution - Cmd 37
Instruction Name
Set Microstep Resolution
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
37
Command Type
Setting
Command Data
Microsteps
Reply Data
Microsteps
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Changes the number of microsteps per step.
This command sets the microstep resolution of a device.
This setting is stored in non-volatile memory and will persist after power-down or reset. Use Restore Settings
(Cmd 36) to restore all non-volatile settings to factory default.
The default on most devices is 64. Available microstep resolutions are:
1, 2, 4, 8, 16, 32, 64, 128
All position data sent to or received from T-Series products is in units of microsteps. Note that when you
change the microstep resolution, other position related settings are scaled automatically from current values to
adjust for the new microstep size. The table below gives an example showing how other settings are affected
when the microstep resolution is changed from 128 to 64:
Setting
Restore Settings - Cmd 36
Before
After
19
Target Speed *
2922
1461
Maximum Travel Range * 280000 140000
Current Position
10501 ** 5250 **
Maximum Relative Move * 20000
10000
Home Offset *
1000
500
Acceleration *
100
50
* The settings for these commands are saved in non-volatile memory.
** Note that if a number is divided by two, it is rounded down to the nearest whole number. The only
exception to this is if acceleration would become 0 (because 0 for acceleration indicates infinite acceleration).
If acceleration would become 0, it will instead be set to 1 which is the lowest acceleration possible.
Set Running Current - Cmd 38
Instruction Name
Set Running Current
Applies to
T-series motorized devices (excluding T-LSQ, T-LST, T-MCA)
Firmware Version
5.xx
Command Number
38
Command Type
Setting
Command Data
Value
Reply Data
Value
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets the desired current to be used when the device is moving.
If your application does not require high torque, it is best to decrease the driving current to reduce power
consumption, vibration, and motor heating. Trial and error should suggest an appropriate setting. If higher
torque is required, it is generally safe to overdrive motors as long as they are not operated continuously. Motor
temperature is typically the best indication of the degree to which overdriving can be employed. If the motor
gets too hot to touch (>75°C), you should reduce the running current.
The current is related to the data by the formula:
Current = CurrentCapacity * 10 / CommandData
The range of accepted values is 0 (no current), 10 (max) - 127 (min). CurrentCapacity is the hardware's
maximum capability of output current.
To prevent damage, some devices limit the maximum output current to a lower value. In that case the valid
range is 0, Limit - 127. Current limits are listed under the device specifications.
Some devices limit the voltage rather than the current. In this case the same formula can be used by replacing
Current and CurrentCapacity with Voltage and PowerSupplyVoltage.
Set Microstep Resolution - Cmd 37
20
For example, Suppose you connect a stepper motor rated for 420mA per phase to a T-CD2500. Reversing the
equation above and using 420mA as Current gives:
CommandData
= 10 * CurrentCapacity / Current
= 10 * 2500mA / 420mA
= 59.5 (round to 60)
Therefore CommandData = 60.
Set Hold Current - Cmd 39
Instruction Name
Set Hold Current
Applies to
T-series motorized devices (excluding T-LSQ, T-LST, T-MCA)
Firmware Version
5.xx
Command Number
39
Command Type
Setting
Command Data
Value
Reply Data
Value
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets the desired current to be used when the device is holding its position.
It is typical to run stepper motors at their rated current only during moves (for highest torque) and reduce the
current when idle just to hold the position.
Typically the hold current can be set to around 25 - 50% of the running current. In some applications, the
friction of the drive system alone is sufficient to hold the microstep position of the motor, and the hold current
can be turned off completely. The hold current can be turned off by issuing the "Set Hold Current" instruction
with data of 0.
When the device is moving, it applies running current to the motor. When the device stops moving, running
current is applied for an additional 0.1 second before hold current is applied.
The current is related to the data by the formula:
Current = CurrentCapacity * 10 / CommandData
The range of accepted values is 0 (no current), 10 (max) - 127 (min). CurrentCapacity is the hardware's
maximum capability of output current.
To prevent damage, some devices limit the maximum output current to a lower value. In that case the valid
range is 0, Limit - 127. Current limits are listed under the device specifications.
Set Running Current - Cmd 38
21
Some devices limit the voltage rather than the current. In this case the same formula can be used by replacing
Current and CurrentCapacity with Voltage and PowerSupplyVoltage.
For example, Suppose you connect a stepper motor rated for 420mA per phase to a T-CD2500. Reversing the
equation above and using 420mA as Current gives:
CommandData
= 10 * CurrentCapacity / Current
= 10 * 2500mA / 420mA
= 59.5 (round to 60)
Therefore CommandData = 60.
Set Device Mode - Cmd 40
Instruction Name
Set Device Mode
Applies to
T-Series motorized devices
Firmware Version
5.xx since 5.04
Command Number
40
Command Type
Setting
Command Data
Mode
Reply Data
Mode
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets the Mode for the given device.
This command allows setting several options. Each option is controlled by a single bit within the command
data. Most software you will encounter, including most of our demo software, represents all 4 data bytes as a
single decimal value rather than specifying each bit individually. To determine what decimal value to use
requires a basic understanding of how the data is represented in binary. The command data may be considered
as a single 32-bit binary value. The least significant bit is bit_0, the next is bit_1, the next is bit_2, and so on
up to the most significant bit_31. Each bit may have a value of either 1 or 0.
The corresponding decimal representation of this 32-bit data is given by:
Decimal value = (bit_0 * 1) + (bit_1 * 2) + … + (bit_n * 2^n) + … + (bit_31 * 2^31)
Each bit controls a single mode option as described in the table below. To determine the data value to use with
the Set Device Mode command, simply determine the desired value of each bit (1 or 0), and calculate the
decimal value using the above formula. Note that not all 32 bits are currently used. Any unused or reserved
bits should be left as 0.
For example, suppose you want all mode bits to be 0 except for bit_3 (disable potentiometer), bit_14 (disable
power LED), and bit_15 (disable serial LED). The Set Device Mode instruction should be sent with data
calculated as follows:
Set Hold Current - Cmd 39
22
Command Data
= 2^3 + 2^14 + 2^15
= 8 + 16384 + 32768
= 49160
Note that each instance of the Set Device Mode command overwrites ALL previous mode bits. Repeated
commands do not have a cumulative effect. For example, suppose you send a Set Device Mode command
with data of 8 to disable the potentiometer. If you then send another Set Device Mode command with data of
16384 to disable the power LED, you will re-enable the potentiometer since bit_3 in the 2nd instruction is 0.
Most devices have a default mode setting of 0 (all bits are 0), however, there are some exceptions. See
Appendix A of the user manual for a table of default settings.
Bit_n 2^n
Description
bit_0
1
bit_1
2
bit_2
4
bit_3
8
bit_4
16
bit_5
32
bit_6
64
Disable Auto-reply
A value of 1 disables ALL replies except those to “echo”, “read”, “renumber”, and “return”
commands. The default value is 0 on all devices.
Enable Anti-backlash Routine
A value of 1 enables anti-backlash. On negative moves (retracting), the device will overshoot
the desired position by 640 microsteps (assuming 64 microsteps/step), reverse direction and
approach the requested position from below. On positive moves (extending), the device
behaves normally. Care must be taken not to crash the moving payload into a fixed object due
to the 640 microsteps overshoot on negative moves. The default value is 0 on all devices. See
note on anti-backlash and anti-sticktion below. *
Enable Anti-sticktion Routine
A value of 1 enables the anti-sticktion routine. On moves less than 640 microsteps (assuming
64 microsteps/step), the device will first retract to a position 640 microsteps less than the
requested position and approach the requested position from below. Care must be taken not to
crash the moving payload into a fixed object due to the 640 microsteps negative move. The
default value is 0 on all devices. See section on anti-backlash and anti-sticktion below this
table. *
Disable Potentiometer
A value of 1 disables the potentiometer preventing manual adjustment of the device. The
default value is 0 on all devices.
Enable Move Tracking
A value of 1 enables the Move Tracking response during move commands. The device will
return its position periodically (every 0.25 sec) when a move command is executed. The
Disable Auto-Reply option above takes precedence over this option. The default value is 0 on
all devices. Before firmware version 5.14, only Move at Constant Speed commands could
generate tracking responses, now all move commands can.
Disable Manual Move Tracking
A value of 1 disables the Manual Move Tracking response during manual moves. The Disable
Auto-Reply option above takes precedence over this option. The default value is 0 on all
devices.
Enable Message Ids
A value of 1 enables Message Ids. In this mode of communication, only bytes 3 through 5 are
used for data. Byte 6 is used as an Id byte that the user can set to any value they wish. It will
Set Device Mode - Cmd 40
23
bit_7
128
bit_8
256
bit_9
512
bit_10 1,024
bit_11 2,048
be returned unchanged in the reply. Message Ids allow the users application to monitor
communication packets individually to implement error detection and recovery. The default
value is 0 on all devices. Prior to firmware version 5.06, this feature was called "Virtual
Channels Mode" and did not behave reliably. We do not recommend enabling this mode of
communications unless you have firmware version 5.06 or later.
Home Status
This bit is set to 0 automatically on power-up or reset. It is set automatically when the device
is homed or when the position is set using command #45. It can be used to detect if a device
has a valid position reference. It can also be set or cleared by the user.
Disable Auto-Home
A value of 1 disables auto-home checking. Checking for trigger of home sensor is only done
when home command is issued. This allows rotational devices to move multiple revolutions
without re-triggering the home sensor.
Reverse Potentiometer
A value of 1 reverses the direction of the travel when the potentiometer is used to control the
device. This mode bit was introduced in firmware version 5.06. Prior to that it was not used.
Reserved
Enable Circular Phase Microstepping
Square phase microstepping is employed by default. A value of 1 enables circular phase
microstepping mode. The differences are:
Circular Phase:
• constant torque
• smoothest operation
• better microstep accuracy
• only 70% torque (and lower power consumption)
Square Phase:
• non constant torque
• less smooth operation
• poorer microstep accuracy
• 100% torque achieved (and higher power consumption)
bit_12 4,096 Reserved
bit_13 8,192 Reserved
bit_14 16,384 Disable Power LED
A value of 1 turns off the green power LED. It will still blink briefly, immediately after
powerup.
bit_15 32,768 Disable Serial LED
A value of 1 turns off the yellow serial LED.
*Anti-backlash and Anti-sticktion routines are designed to compensate for backlash and sticktion. The
solution to backlash is to always approach a position from the same direction. The solution to sticktion is to
move the device far enough away from the final position to break free of sticktion before attempting the final
move. The operation of the two features are dependent on each other, and the interaction of enabling one or
both of the features is described in the diagram to the right.
Set Device Mode - Cmd 40
24
For each setting scenario, the starting position is denoted by the solid vertical line and the final position is
denoted by the dotted vertical line. There are four possible moves for each scenario: long move positive, long
move negative, short move positive and short move negative. The arrows show the path that would be
traversed for each scenario.
Set Home Speed - Cmd 41
Instruction Name
Set Home Speed
Applies to
T-Series motorized devices
Firmware Version
5.xx since 5.20
Command Number
41
Command Type
Setting
Command Data
Speed
Reply Data
Speed
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets the speed at which the device moves when using the "Home" command.
When a home instruction is issued, the device will accelerate at a rate determined by the acceleration setting
up to the speed determined by this command. The home speed can be set independently of target speed
(command 42) so that for stages that move very fast, issuing the home command would use a slower home
speed and prevent the stage from crashing into the home position.
For a spreadsheet that can be used to calculate speed setting values for any product see
http://www.zaber.com/documents/ZaberSpeedSetting.xls. Alternatively you may use the formulas below.
Actual Speed
= Data * 9.375 * M mm/s or deg/s
= Data * 9.375 microsteps/s
Set Home Speed - Cmd 41
25
= Data * 9.375 / R steps/s
= Data * 9.375 / (R x S) * 60 revolutions/min Motor rpm
= Data * 9.375 * L / (R x S) mm/s Linear devices only
where:
• Data is the value of the command data
• R (microsteps/step) is the microstep resolution (command 37)
• S (steps/revolution) is the number of steps per motor revolution
• M (mm or deg) is the microstep size
• L (mm or deg) is the distance of linear motion per motor revolution
Refer to product specifications for the distance corresponding to a single microstep or revolution.
For example, if a motor has 48 steps per revolution (S = 48), used with default resolution (R = 64), and Data is
2922, then the motor will move at a speed of approximately 535 revolutions per minute.
Valid data values are from 1 to (512×R?1).
Set Target Speed - Cmd 42
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Reply Data
Safe to retry?
Returns Current
Position?
Persistence
Summary
Set Target Speed
T-Series motorized devices
5.xx
42
Setting
Speed
Speed
Yes
No
Non-Volatile
Sets the speed at which the device moves when using the "Move Absolute" or
"Move Relative" commands.
When a move absolute or move relative instruction is issued, the device will accelerate at a rate determined by
the acceleration setting up to the speed determined by this command.
The target velocity may be changed on-the-fly even when the device is in the middle of a move. The device
will automatically adjust the velocity, but still target the final position specified in the original move.
For a spreadsheet that can be used to calculate speed setting values for any product see
http://www.zaber.com/documents/ZaberSpeedSetting.xls. Alternatively you may use the formulas below.
Actual Speed
= Data * 9.375 * M mm/s or deg/s
Set Target Speed - Cmd 42
26
= Data * 9.375 microsteps/s
= Data * 9.375 / R steps/s
= Data * 9.375 / (R x S) * 60 revolutions/min Motor rpm
= Data * 9.375 * L / (R x S) mm/s Linear devices only
where:
• Data is the value of the command data
• R (microsteps/step) is the microstep resolution (command 37)
• S (steps/revolution) is the number of steps per motor revolution
• M (mm or deg) is the microstep size
• L (mm or deg) is the distance of linear motion per motor revolution
Refer to product specifications for the distance corresponding to a single microstep or revolution.
For example, if a motor has 48 steps per revolution (S = 48), used with default resolution (R = 64), and Data is
2922, then the motor will move at a speed of approximately 535 revolutions per minute.
Valid data values are from 0 to (512×R?1). In Firmware 5.21 and 5.22, a value of 0 is not allowed. In all other
versions, target speed of 0 will cause Move Absolute/Relative and Move to Stored Position commands to
return an error.
Set Acceleration - Cmd 43
Instruction Name
Set Acceleration
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
43
Command Type
Setting
Command Data
Acceleration
Reply Data
Acceleration
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets the acceleration used by the movement commands.
When a movement command is issued, the device will accelerate at a rate determined by this command "Set
Acceleration" up to a maximum speed determined by the target velocity. The acceleration may be changed
on-the-fly even when the device is in the middle of a move. To determine the acceleration that will result from
a given data value, the following formulas may be used:
Actual Acceleration
= 11250 * Data * M mm/s^2 or deg/s^2
= 11250 * Data microsteps/s^2
= 11250 * Data / R steps/s^2
Set Acceleration - Cmd 43
27
Where:
• Data is the value specified in the Command Data
• M (mm or deg) is the microstep size
• R is the microstep resolution set in command #37 (microsteps/step)
The maximum value allowable is (512*R-1). This is the same as the maximum allowable data for velocity,
which means that the device will reach maximum velocity immediately. If acceleration is set to 0, it is as if
acceleration is set to (512*R-1). Effectively acceleration is turned off and the device will start moving at the
target speed immediately.
Set Maximum Position - Cmd 44
Instruction Name
Set Maximum Position
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
44
Command Type
Setting
Command Data
Range
Reply Data
Range
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets the maximum position the device is allowed to travel to.
Use this command to limit the range of travel to a value other than the default. Exercise caution when using
this command, since it is possible to set the range to a value greater than the physical limits of the device.
A device within range of travel is not allowed to move above its Maximum Position. Valid values can be any
number from 0 to 16777215.
The behaviour of this command depends on the firmware version:
5.01 - 5.20
Device movement behaviour when out of range is not well-defined.
5.21 - 5.22
The new Maximum Position cannot be less than the current position.
5.23 and up
If the device Current Position is out of range and above Maximum Position, the device is not allowed to move
in the positive direction.
Set Maximum Position - Cmd 44
28
This setting is stored in non-volatile memory and will persist after power-down or reset.
NOTE: This command was previously named Set Maximum Range.
Set Current Position - Cmd 45
Instruction Name
Set Current Position
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
45
Command Type
Setting
Command Data
New Position
Reply Data
New Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
Volatile
Summary
Sets the device internal position counter.
This command override the internal position counter with a new position value specified by the user.
The position data is volatile and will not persist after power-down or reset.
The phase of the stepper motor is controlled by the least significant byte of the position, thus the device may
move by +/- 2 full steps unless the new position corresponds to the true current position of the device. This
command is useful if you want to turn off the system without losing position. Simply save the position in the
controlling computer and turn off the hold current (Command 39) before powering down. After powering up,
set the position back to the saved value and turn on the hold current. In this way you can continue without
having to home the device. You have to turn off the hold current because when the power first comes on the
position will default to the maximum range, and that may be out of phase with the motor's current position. If
the hold current is on, it will force the motor into phase with the default position before you've had a chance to
restore the current position.
In Firmware 5.21 and 5.22, the new Current Position must be equal or less than Maximum Position. See Set
Maximum Position (Cmd 44) for more details on range settings and behaviour.
Set Maximum Relative Move - Cmd 46
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Set Maximum Relative Move
T-Series motorized devices
5.xx
46
Setting
Range
Set Current Position - Cmd 45
29
Reply Data
Safe to retry?
Returns Current
Position?
Persistence
Summary
Range
Yes
No
Non-volatile
Sets a limit on the number of microsteps the device can make for a Relative Move
command.
Use this command to limit the maximum range of travel for a relative move command. For example, if
maximum relative move is set to 1000, and the user requests a relative move (#21) of 800, then the device will
move 800 microsteps. However, if the user requests a relative move of 1200, then the device will reply with
an error code. Most applications can leave this unchanged from the default.
This setting is stored in non-volatile memory and will persist after power-down or reset.
Set Home Offset - Cmd 47
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Reply Data
Safe to retry?
Returns Current Position?
Persistence
Summary
Set Home Offset
T-Series motorized devices
5.xx
47
Setting
Offset
Offset
Yes
No
Non-Volatile
Sets the the new "Home" position which can then be used when the Home
command is issued.
When the home command is issued, the device will retract until the home sensor is triggered, then move
forward until the home sensor is no longer triggered, then move forward by the Home Offset value (in
microsteps) and resets the internal position (to 0 for most devices).
Note that the home offset command also changes the range settings of the device. For example, if the initial
Home Offset is 0 and the Maximum Position is 500,000, and the user changes the Home Offset to 70,000,
then the Maximum Position is automatically adjusted to be 430,000. However, changing the Maximum
Position does not affect the home offset.
When a new Home Offset is specified, Maximum Position is adjusted to provide the same maximum location.
However, the device will not be able to travel below its new home position unless it is homing.
This setting is stored in non-volatile memory and will persist after power-down or reset.
Set Maximum Relative Move - Cmd 46
30
Set Alias Number - Cmd 48
Instruction Name
Set Alias Number
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
48
Command Type
Setting
Command Data
Alias Number
Reply Data
Alias Number
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Sets an alternate device number for a device.
This setting specifies an alternate device number for a device (in addition to its actual device number). By
setting several devices to the same alias number, you can control a group of devices with a single instruction.
When you send an instruction to an alias number, all devices with that alias number will execute the
instruction and reply using their actual device numbers. To remove an alias, simply set the device's alias
number to zero. Valid alias numbers are 0 to 99 for version 6.05, and 0 to 254 otherwise. To avoid confusion,
it is best to choose an alias greater than the number of devices connected.
This setting is stored in non-volatile memory and will persist after power-down or reset.
Set Lock State - Cmd 49
Instruction Name
Set Lock State
Applies to
T-Series devices
Firmware Version
5.xx since 5.07
Command Number
49
Command Type
Setting
Command Data
Lock State
Reply Data
Lock State
Safe to retry?
Yes
Returns Current Position? No
Persistence
Non-Volatile
Summary
Locks or unlocks all non-volatile settings.
Sometimes it is desirable to lock all non-volatile settings to prevent them from being changed inadvertently.
After changing all settings as desired, settings can be locked by setting the Lock State to 1. Subsequent
attempts to change any non-volatile setting (e.g., Set Target Speed, command 42) will result in an error
response with an error code of 3600 (settings locked). Note that the Set Lock State command does not apply
to commands and settings that are specific to the joystick. Load Event Instruction and Set Axis Device
Number for example, are unaffected by the Lock State.
How the Restore Settings instruction behaves when the settings are locked depends on the firmware version.
In version 5.07 issuing a Restore Settings instruction while the settings are locked will result in an error
Set Alias Number - Cmd 48
31
response with an error code of 3600 (settings locked). This behavior was found to confuse many customers so
in version 5.08 and up, the behavior was changed such that regardless of the current lock state, issuing a
Restore Settings instruction will always return setting values to factory default values and leave settings in an
unlocked state.
Settings can also be unlocked by setting the Lock State to 0.
Return Device Id - Cmd 50
Instruction Name
Return Device Id
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
50
Command Type
Read-Only Setting
Command Data
Ignored
Reply Data
Device Id
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Returns the id number for the type of device connected.
See the Zaber support web site for a table of device ids for all Zaber products.
Return Firmware Version - Cmd 51
Instruction Name
Return Firmware Version
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
51
Command Type
Read-Only Setting
Command Data
Ignored
Reply Data
Version
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Returns the firmware version installed on the device.
A decimal is assumed before the last two digits. For example, 502 indicates firmware version 5.02.
Set Lock State - Cmd 49
32
Return Power Supply Voltage - Cmd 52
Instruction Name
Return Power Supply Voltage
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
52
Command Type
Read-Only Setting
Command Data
Ignored
Reply Data
Voltage
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Returns the voltage level of the device's power supply.
A decimal is assumed before the last digit. For example, a value of 127 indicates 12.7 V. Note that the internal
voltage measurement is not very accurate. Don't be alarmed if the indicated voltage is slightly different from
your measurements.
Return Setting - Cmd 53
Instruction Name
Return Setting
Applies to
All Zaber devices
Firmware Version
5.00 and up
Command Number
53
Command Type
Command
Command Data
Setting Number
Reply Data
Setting Value
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Returns the current value of the setting specified in the Command Data.
Valid command data values are the command numbers of any "Set..." instruction. The device will reply using
the command number of the specified setting (as if a command to change the setting had just been issued) but
the setting will not be changed.
For example, command #48 is the "Set Alias" instruction. Therefore if you wish to return the current value of
the alias number, simply send the Return Setting instruction with data of 48. The device will reply with
command #48 and data equal to the setting value.
Since firmware version 5.21, this command also accepts the command numbers of any "Return..." instruction,
such as command #50 "Return Device Id".
Return Power Supply Voltage - Cmd 52
33
Return Status - Cmd 54
Instruction Name
Return Status
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
54
Command Type
Read-Only Setting
Command Data
Ignored
Reply Data
Status
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Returns the current status of the device.
Possible status codes are as follows:
• 0 - idle, not currently executing any instructions
• 1 - executing a home instruction
• 10 - executing a manual move (i.e. the manual control knob is turned)
• 18 - executing a move to stored position instruction (FW 5.04 and up only)
• 20 - executing a move absolute instruction
• 21 - executing a move relative instruction
• 22 - executing a move at constant speed instruction
• 23 - executing a stop instruction (i.e. decelerating)
Echo Data - Cmd 55
Instruction Name
Echo Data
Applies to
All Zaber devices
Firmware Version
5.04 and up
Command Number
55
Command Type
Command
Command Data
Data
Reply Data
Data
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Echoes back the same Command Data that was sent.
This command is useful for testing communication, similar to a network "ping".
Return Status - Cmd 54
34
Return Current Position - Cmd 60
Instruction Name
Return Current Position
Applies to
All motorized devices
Firmware Version
5.00 and up
Command Number
60
Command Type
Read-Only Setting
Command Data
Ignored
Reply Data
Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
n/a
Summary
Returns the current absolute position of the device in microsteps.
This is equivalent to issuing a Return Setting (#53) command with a command data value of 45 (Set Current
Position).
Return Current Position - Cmd 60
35
Reply-Only Reference
In general, a Zaber device will reply to an instruction using the same command number as the instruction
itself. However, there are occasions (such as when the user turns a manual control knob) when the device may
transmit data without first receiving a request from the controlling computer. This type of reply may be
considered to be a triggered reply as opposed to a requested reply. In this case the device uses a “reply-only”
command number to distinguish the reply from those requested by the controlling computer. The meanings of
these replies and their corresponding data are given below.
Move Tracking - Cmd 8
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Reply Data
Safe to retry?
Returns Current
Position?
Persistence
Summary
Move Tracking
T-Series motorized devices
5.xx
8
Reply
n/a
Position
Yes
Yes
n/a
Indicates to the user that the device has been set to a position tracking mode and
given a move instruction.
Move Tracking has been enabled (see Set Device Mode (Cmd 40)) and device has been given a move
instruction. In this mode, the device sends this reply every 0.25 seconds updating the current absolute position
(in microsteps) during any move.
Limit Active - Cmd 9
Instruction Name
Applies to
Firmware Version
Command Number
Command Type
Command Data
Reply Data
Safe to retry?
Returns Current Position?
Persistence
Summary
Reply-Only Reference
Limit Active
All motorized devices
5.00 and up
9
Reply
n/a
Position
Yes
Yes
n/a
Indicates to the user that the device has reached one of the limits of travel.
36
This response from a device indicates that a “move at constant speed” command has finished. Generally this is
because the device reached one of the limits of travel (either the minimum position or maximum position), but
it also occurs if the device is ordered to move at constant speed zero.
Manual Move Tracking - Cmd 10
Instruction Name
Manual Move Tracking
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
10
Command Type
Reply
Command Data
n/a
Reply Data
Position
Safe to retry?
Yes
Returns Current Position? Yes
Persistence
n/a
Summary
A reply that is sent when the manual control knob is turned.
Manual Move Tracking has been enabled (see Set Device Mode (Cmd 40)) and the device has been moved
manually (the knob is turned). In this mode, the device sends this reply every 0.25 seconds updating the
current absolute position (in microsteps) during any move.
Error - Cmd 255
Instruction Name
Error
Applies to
T-Series motorized devices
Firmware Version
5.xx
Command Number
255
Command Type
Reply
Command Data
n/a
Reply Data
Error Code
Safe to retry?
Yes
Returns Current Position? No
Persistence
n/a
Summary
Indicates to the user that an error has occurred.
This reply indicates that an error has occurred. The error code returned in the data indicates the type of error.
The device may send an error code as a reply to an invalid instruction, or it may autonomously send an error
code as a triggered reply (i.e. not in response to an instruction). The error code is typically the command
number of the instruction that caused the error, but not always.
Limit Active - Cmd 9
37
Error Codes
Code
Name
1
Cannot Home
2
14
15
18
20
21
22
36
Device Number
Invalid
Voltage Low
Voltage High
Stored Position
Invalid
Absolute Position
Invalid
Relative Position
Invalid
Velocity Invalid
Peripheral Id Invalid
Description
Home - Device has traveled a long distance without triggering the home sensor.
Device may be stalling or slipping.
Renumbering data out of range.
Power supply voltage too low.
Power supply voltage too high.
The position stored in the requested register is no longer valid. This is probably
because the maximum range was reduced.
Move Absolute - Target position out of range.
Move Relative - Target position out of range.
Constant velocity move. Velocity out of range.
Restore Settings - peripheral id is invalid. Please use one of the peripheral ids
listed in the user manual, or 0 for default.
37 Resolution Invalid
Invalid microstep resolution. Resolution may only be 1, 2, 4, 8, 16, 32, 64, 128.
38 Run Current Invalid Run current out of range. See command 38 for allowable values.
39 Hold Current Invalid Hold current out of range. See command 39 for allowable values.
40 Mode Invalid
Set Device Mode - one or more of the mode bits is invalid.
41 Home Speed Invalid Home speed out of range. The range of home speed is determined by the
resolution.
42 Speed Invalid
Target speed out of range. The range of target speed is determined by the
resolution.
43 Acceleration Invalid Target acceleration out of range. The range of target acceleration is determined
by the resolution.
44 Maximum Range
The maximum range may only be set between 1 and the resolution limit of the
Invalid
stepper controller, which is 16,777,215.
45 Current Position
Current position out of range. Current position must be between 0 and the
Invalid
maximum range.
46 Maximum Relative Max relative move out of range. Must be between 0 and 16,777,215.
Move Invalid
47 Offset Invalid
Home offset out of range. Home offset must be between 0 and maximum range.
48 Alias Invalid
Alias out of range.
49 Lock State Invalid
Lock state must be 1 (locked) or 0 (unlocked).
53 Setting Invalid
Return Setting - data entered is not a valid setting command number. Valid
setting command numbers are the command numbers of any "Set ..."
instructions.
64 Command Invalid
Command number not valid in this firmware version.
255 Busy
Another command is executing and cannot be pre-empted. Either stop the
previous command or wait until it finishes before trying again.
1600 Save Position Invalid Save Current Position register out of range (must be 0-15).
1601 Save Position Not
Save Current Position is not allowed unless the device has been homed.
Homed
Error Codes
38
1700 Return Position
Return Stored Position register out of range (must be 0-15).
Invalid
1800 Move Position Invalid Move to Stored Position register out of range (must be 0-15).
1801 Move Position Not
Move to Stored Position is not allowed unless the device has been homed.
Homed
2146 Relative Position
Move Relative (command 20) exceeded maximum relative move range. Either
Limited
move a shorter distance, or change the maximum relative move (command 46).
3600 Settings Locked
Must clear Lock State (command 49) first. See the Set Lock State command for
details.
4008 Disable Auto Home Set Device Mode - this is a linear actuator; Disable Auto Home is used for rotary
Invalid
actuators only.
4010 Bit 10 Invalid
Set Device Mode - bit 10 is reserved and must be 0.
4012 Home Switch Invalid Set Device Mode - this device has integrated home sensor with preset polarity;
mode bit 12 cannot be changed by the user.
4013 Bit 13 Invalid
Set Device Mode - bit 13 is reserved and must be 0.
Error Codes
39
Manual Control
Turning the potentiometer knob will make the device move. It is not necessary to have a computer connected
to use the device in manual mode. However, without a computer connected you have no means to initialize
the device with a starting position. Therefore you must retract it completely after each power up in order to
home the device. You will not be able to extend it fully until you have first retracted it completely to set the
home position. Clockwise rotation of the knob produces positive motion (extension) and counter clockwise
rotation produces negative motion (retraction).
The speed of retraction or extension will be directly related to the amount to which the knob is turned from its
center detent position (turning the knob to its center position will stop the device from moving). During
manual moves, the device constantly returns its position so a computer can track the position even when you
are controlling the device manually. Manual control can be disabled with a mode setting.
The speed of the potentiometer-controlled manual moves is also determined by the Set Target Velocity
command (#42). When the knob is fully turned to either limit, the device will move at the maximum velocity
set by command #42. Any intermediate position of the knob will move the device at a velocity proportional to
how far the knob has been turned. If the velocity is set to be very small, it may appear that turning the knob
produces no movement. The way to verify that the actuator is moving is to connect it to a computer and
monitor the replies back to the computer.
During operation if the actuator is extended or retracted against a force greater than its thrust capability the
device will stall and there will be “missed steps”. This can result in an apparent malfunction in that the device
believes its position to be other than it actually is and will not extend or retract the actuator past a given
position. Without connecting a computer to home the device or set its position, the only solution is to retract
the actuator until it activates the internal home switch, which will automatically zero the device at the home
position. A problem arises if the device incorrectly believes its position to be zero since it will not retract to
the home position. In this case you must disconnect and reconnect the power before manually homing the
device.
Manual Control
40
LED functions
The green LED is on whenever there is power to the device. A constant blinking (2Hz) of the green LED
indicates that the power supply is out of range. The green LED may be disabled by a mode bit (see command
#40)
The amber or red LED flashes when there is traffic packet on the RS232 line. It also stays on while the device
is moving. When the potentiometer is turned, the amber or red LED will blink at a rate that is proportional to
how far the potentiometer is turned. The farther the knob is turned away from center detent, the faster the
LED will blink. If the device reaches either the home or the away limit while under manual control, the LED
will blink slowly to indicate that the device cannot move any farther.
LED functions
41
Troubleshooting T-Series Motion Devices
Symptom
After the device
finishes a move
command, it starts
moving again on its
own.
Device starts turning
as soon as the power
is on or amber LED
blinks all the time
Nothing happens
when I turn the
potentiometer knob
either way.
Nothing happens
when I send a move
instruction.
When I try to move
the device it just
makes a noise and
vibrates.
Stall condition: The
device makes noise
but does not move.
There is no
communication
between the
computer and my
Zaber device, the
amber light does not
come on or flash.
Check
The potentiometer knob is probably not centered. Make sure the knob is set to the
middle position. You can feel a slight detent in the middle of its rotation.
The potentiometer is probably not centered. Turn the knob slowly until you feel the
center detent.
Manual control may have been disabled. Issue the Restore Settings Instruction
(command 36) or enable the potentiometer using the Set Device Mode Instruction
(command 40).
The device needs to be "homed" first. You must issue the Home Instruction (command
1) after power up to home the device.
There may be too much load that the device is trying to push. The actuator stalls in this
situation. Try removing the load and see if the problem goes away. You can achieve
higher thrust or torque by lowering the speed of the device using the Set Target Speed
Instruction (command 42).
Try removing all external loads. If the device now extends and retracts normally, the
problem is excessive load. Try to reduce the load or change step time and acceleration
parameters to ensure the load is less than the maximum thrust. If a linear motion device
is stalled in its fully extended position and remains stalled without any external load
applied it means the lead screw has been over extended and is stuck. You can usually
get the lead screw unstuck by pushing on it after issuing the home command. If a device
is stalled (with no external load) in a position that is not fully extended then it requires
servicing.
There are several things you should check:
1. Make sure you have the correct serial port selected. Try selecting other serial
ports in the software. To ensure that your serial port is working properly, you
can connect the send and receive pins of the serial adaptor without connecting
any devices. Use a wire to connect pins 2 and 6. Your software should echo a
reply every time you send an instruction. You can view the pinout diagram
here.
2. Check the baud rate, hand shaking, parity, stop bit, etc. when configuring your
serial communications software. The required settings are listed in the Control
Through The RS-232 Serial Port section above. Also make sure that your serial
port is not configured with a termination character (it often defaults to
linefeed).
3. Make sure there are no bent pins in the ends of all the data cables
4. Make sure the power supply is working. Check the voltage over the DC plug to
see if it measures close to the rated voltage for the supply.
5. Make sure the power plug is plugged in all the way. If your device has LEDs,
the green LED should light.
Troubleshooting T-Series Motion Devices
42
6. If your device has a manual control knob, make sure it is centered (you should
feel a detent in the center position).
7. If your computer is a laptop running on batteries, try plugging in the power.
Some laptops disable the serial ports when running on batteries.
8. Make sure you do not have a null modem adaptor or cable in the line.
9. The serial to mini-din adaptor comes in many varieties and many have different
pin connections. Check the adaptor for continuity on the proper pins by
consulting the adaptor pin-out diagram above.
10. If you encounter the problem when trying to control the device with your own
software, try using one of the demo programs from our website to verify that
the hardware is functioning properly.
My device is
behaving strangely.
It responds to some
commands as
expected but not to
others.
1. Send a Restore Settings Instruction (command 36). A setting might have been
inadvertently changed. If you have a T-MCA or T-CD series stepper motor
controller, note that a data value should be entered with the Restore Default
Settings Instruction corresponding to the Peripheral Id of the device you are
controlling.
2. Your computer might be set to Unicode. This is common for languages that use
non-Latin based characters. Go to Control Panel/Regional and Language
Options/Advanced. Select a language for non-unicode programs. This should
be English or another Latin based character language.
The speed settings may have been changed inadvertently. Send a Restore Settings
The device is
moving very slowly. Instruction (command 36).
It used to behave
differently.
If the actuator has a manual control knob, make sure the knob is centered. Turn it back
The device is not
communicating or and forth until you feel a click or detent. Leave the knob at the center detent position.
Then turn device off and on, and try again.
responding to
computer control.
The yellow LED
may be blinking.
Green LED does not Check the A/C wall plug, the voltage adaptor and its connection to the device. If the
come on
power is coming over the data cable, check the mini din connector for bent or broken
pins.
The amber light should turn off.
Green LED flashes The power supply voltage is outside the specified range for your device. It may either
be too low or too high. Some unregulated adaptors may produce voltages significantly
in excess of their rated values. If the number of devices connected on a single power
supply exceeds its current capability, the voltage may drop below the required
minimum voltage. You may experience this problem when many motors on a single
supply move together. The load may exceed the maximum current available, causing
the voltage to drop too low. If you experience this problem with a single device on a
single unregulated supply rated at over 300 mA, then the problem is probably that the
supply voltage is too high.
Turning the
You may be at the end of travel. This can happen due to missed steps even if the device
potentiometer causes does not appear to be fully extended. Turn the knob the other way. If the device makes
no motion.
noise but does not move you may be in a stall condition (especially if the device
Troubleshooting T-Series Motion Devices
43
The amber light
comes on briefly
when sending a
command, but the
device does not
move and does not
return codes.
The device does not
send replies but
otherwise works.
The device
sometimes returns
fewer than 6 bytes.
Poor repeatability or
the device does not
extend or retract
smoothly or makes
louder than normal
noise during travel.
The device has
repeatability errors
smaller than 4 full
steps.
A linear motion
device extends and
retracts smoothly but
will not retract to the
home (zero)
position.
appears to be fully extended). See “Stall Condition” below. The amber light should
blink when turning the knob, if not, try turning the power off and then on again. You
may also have set the Target Velocity (command #42) so low that it doesn’t produce
any visible motion. Try using command #36 to reset the device to default settings and
try again.
Check baud rate, hand shaking, parity, stop bit, etc. Make sure that your software does
not transmit any control characters like line feed, spaces or something else. The device
numbers may not be what you think they are. Issue a renumber command, make sure
that the computer does not transmit anything else while the devices renumber. Check
that you transmit 6 bytes and that the device number and command are valid. If you
encounter the problem when trying to control the device with your own software, try
using one of the demo programs from our website to verify that the hardware
If you encounter the problem when trying to control the device with your own software,
try using a demo program from our website to verify that the hardware is functioning
properly. Make sure that the receiving part of your code or commercial package is
correct. Check baud rate, etc. Check connectors for bent or broken pins.
This problem usually indicates a problem with the settings for your serial port. Some
serial ports are set to automatically recognize and remove specific control characters
such as carriage returns when they appear in the RS232 receive buffer. When this
happens, it appears as though the device has not sent enough bytes, but really the
controlling computer has just removed some before you could read them. You will need
to change the serial port settings to fix the problem.
You may be skipping steps. When skipping, the device will lose position in increments
of 4 full steps (not microsteps). This condition happens if the thrust needed is more than
the thrust available from the device. Check that the force on the device is less than the
maximum thrust. Check the voltage using the voltage command. Voltage less than the
rated or recommended voltage will reduce the device’s maximum thrust. Try a slower
target velocity (command #42) as stepper motors produce more thrust when moving
slowly. Lead screw conditions greatly affect the performance of linear motion devices.
Dirt, damaged threads, no grease or too heavy grease will degrade performance and
may contribute to a stall. A black residue appears on the lead screw after extended use.
This can increase friction and reduce thrust. Clean the screw and re-grease it. In general
if you try to move a large payload or have a large static axial load (like lifting
something vertically) you will have more problems. For vertical motion the use of a
counterweight, spring or rubber band can help reduce the static load and improve the
performance of the device. The default value of the acceleration and target velocity are
good for small to medium loads and medium speeds. For very light loads and higher
speeds, or heavy loads at lower speeds, these parameters can be tuned. Trial and error is
the best tuning technique.
If you're not skipping steps, friction may still cause some variation when returning to a
position. Depending on the exact cause, there are a couple of device modes that can
reduce these errors. See the Set Device Mode command's sections on the anti-backlash
and anti-sticktion routines.
The device will not retract below what it believes to be the zero position. If the device
has missed steps due to a previous stall condition or if the device has been set to an
incorrect position, the device may incorrectly believe it is at the zero position. You can
solve the problem by issuing the home command, or by turning the device on and off
and manually homing it.
Troubleshooting T-Series Motion Devices
44
The device does not
behave as expected
when software sends
it a series of
commands.
It can be challenging to track down problems in a complicated script or other software.
In addition to the standard techniques of debugging any software, it's also helpful to see
exactly what bytes are being sent and received on the serial port. There are several tools
available to display the raw data from a serial port, and stackoverflow.com has a list of
some.
Troubleshooting T-Series Motion Devices
45
Warranty and Repair
For Zaber's policies on warranty and repair, please refer to the Ordering Policies
Standard products
Standard products are any part numbers that do not contain the suffix ENG followed by a 4 digit number.
Most, but not all, standard products are listed for sale on our website. All standard Zaber products are backed
by a one-month satisfaction guarantee. If you are not satisfied with your purchase, we will refund your
payment minus any shipping charges. Goods must be in brand new saleable condition with no marks. Zaber
products are guaranteed for one year. During this period Zaber will repair any products with faults due to
manufacturing defects, free of charge.
Custom products
Custom products are any part numbers containing the suffix ENG followed by a 4 digit number. Each of these
products has been designed for a custom application for a particular customer. Custom products are
guaranteed for one year, unless explicitly stated otherwise. During this period Zaber will repair any products
with faults due to manufacturing defects, free of charge.
How to return products
Customers with devices in need of return or repair should contact Zaber to obtain an RMA form which must
be filled out and sent back to us to receive an RMA number. The RMA form contains instructions for packing
and returning the device. The specified RMA number must be included on the shipment to ensure timely
processing.
Warranty and Repair
46
Email Updates
If you would like to receive our periodic email newsletter including product updates and promotions, please
sign up online at www.zaber.com (news section). Newsletters typically include a promotional offer worth at
least $100.
Email Updates
47
Contact Information
Contact Zaber Technologies Inc by any of the following methods:
Phone 1-604-569-3780 (direct)
1-888-276-8033 (toll free in North America)
Fax 1-604-648-8033
Mail #2 - 605 West Kent Ave. N., Vancouver, British Columbia, Canada, V6P 6T7
Web www.zaber.com
Email Please visit our website for up to date email contact information.
The original instructions for this product are available at http://www.zaber.com/wiki/Manuals/T-LA.
Contact Information
48
Appendix A: Default Settings
Please see the Zaber Support Page for default settings for this device.
Appendix A: Default Settings
49
Appendix B: Device Specifications
For complete device specifications for T-LA actuators please see our website.
Appendix B: Device Specifications
50
Specification
Microstep Size (Default Resolution)
Integrated Controller
Repeatability
Backlash
Maximum Speed
Minimum Speed
Speed Resolution
Encoder Type
Peak Thrust
Maximum Continuous Thrust
Communication Interface
Communication Protocol
Maximum Current Draw
Power Supply
Power Plug
Motor Temperature Rise
Linear Motion Per Motor Rev
Motor Steps Per Rev
Motor Type
Inductance
Default Resolution
Data Cable Connection
Mechanical Drive System
Limit or Home Sensing
Axes of Motion
Mounting Interface
Vacuum Compatible
Operating Temperature Range
RoHS Compliant
Appendix B: Device Specifications
Value
0.09921875 µm
Yes
< 4 µm
< 6 µm
4 mm/s
.0009302 mm/s
.0009302 mm/s
None
25 N
15 N
RS-232
Zaber Binary
300 mA
12-16 VDC
2.1 mm centre positive
75 degrees C
0.3048 mm
48
Stepper (2 phase)
55 mH/phase
1/64 of a step
Minidin 6
Precision leadscrew
Magnetic home sensor
1
3/8-32 nut or 3/8" shank
No
0 to 50 degrees C
Yes
Alternate Unit
< 0.000157 "
< 0.000236 "
0.157 "/s
0.00004 "/s
0.00004 "/s
5.6 lb
3.4 lb
0.012 "
51
CE Compliant
Yes
Comparison - T-LA Series
Part Number Travel Range Accuracy (unidirectional)
13 mm
24 µm
T-LA13A
( 0.512 ")
( 0.000945 ")
13 mm
24 µm
T-LA13A-S
( 0.512 ")
( 0.000945 ")
28 mm
24 µm
T-LA28A
( 1.102 ")
( 0.000945 ")
28 mm
24 µm
T-LA28A-S
( 1.102 ")
( 0.000945 ")
60 mm
36 µm
T-LA60A
( 2.362 ")
( 0.001417 ")
60 mm
36 µm
T-LA60A-S
( 2.362 ")
( 0.001417 ")
Part Number LED Indicators Weight
T-LA13A
Yes
0.14 kg
T-LA13A-S No
0.11 kg
T-LA28A
Yes
0.14 kg
T-LA28A-S No
0.11 kg
T-LA60A
Yes
0.15 kg
T-LA60A-S No
0.14 kg
Comparison - T-LA Series
Manual Control
Yes
No
Yes
No
Yes
No
52
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