T-Series/Peripheral Ids and Default Settings

From ZaberWiki

Peripheral Ids are used only with T-CD series devices. Peripheral Ids are identifiers given to a particular model of motor or motorized device that can be driven by Zaber's T-CD1000 or T-CD2500 stepper motor controllers. The Restore Settings instruction (cmd 36) should be used with data equal to the Peripheral Id to configure the T-CD device to the settings indicated in the table below.

Note that peripheral Ids are not the same as device Ids. T-Series devices with integrated controllers will have a device Id. Any motor or actuator that does not have a “T” prefix and is designed to connect to a T-CD1000 or T-CD2500 will have a peripheral Id.

The peripheral Ids available and the settings associated with them have changed with each version of firmware. The table below shows information for the most recent version. Note that some of the products shown may be discontinued. Their peripheral Ids are still available for backward compatibility.

/5.03

/5.04

/5.05

/5.06

/5.07

/5.08

/5.09 (shown below)

[edit] Peripheral Ids and settings in firmware version 5.09

The following default settings will apply to any T-CD series device, regardless of what Peripheral Id may be specified in a Restore Settings instruction.

Setting	Default value
Resolution (cmd 37)	64
Target Velocity (cmd 42)	2922
Acceleration (cmd 43)	111
Maximum Relative Move (cmd 46)	1 x Range
Home Offset	0
Antibacklash / Antisticktion Distance	10 x Resolution = 10 x 64 = 640 microsteps except T-LSRxxxD -- those are 2 x Resolution = 2 x 64 = 128 microsteps.

The following tables shows settings specific to each peripheral Id.

Peripheral Id	Product Name	Mode (cmd 40)	Range (cmd 44)	Position on powerup	T-CD1000 Current Run (cmd 38) / Hold (cmd 39)	T-CD2500 Current Run (cmd 38) / Hold (cmd 39)
1240	LML40	6144	165000	1 x Range	15 / 30	37 / 74
1260	LML60	6144	102400	1 x Range	15 / 30	37 / 74
1215	LML15	6144	192000	1 x Range	15 / 30	37 / 74
1225	LML25	6144	640000	1 x Range	15 / 30	37 / 74
1250	LML50	6144	1280000	1 x Range	15 / 30	37 / 74
1239	LMR39	6144	1536000	1 x Range	15 / 30	37 / 74
1258	LMR58	6144	1843200	1 x Range	15 / 30	37 / 74
1282	LMR82	6144	1843200	1 x Range	15 / 30	37 / 74
1261	LMR60	2048	8388863	1 x Range	11 / 22	27 / 54
2081	NM08A	2048	8388863	1 x Range	17 / 34	42 / 84
2082	NM08B	2048	8388863	1 x Range	13 / 26	31 / 62
2111	NM11A	2048	8388863	1 x Range	15 / 30	37 / 74
2112	NM11B	2048	8388863	1 x Range	15 / 30	37 / 74
2113	NM11C	2048	8388863	1 x Range	15 / 30	37 / 74
2171	NM17A	2048	8388863	1 x Range	11 / 22	26 / 52
2172	NM17B	2048	8388863	1 x Range	10 / 16	21 / 42
2173	NM17C	2048	8388863	1 x Range	10 / 16	21 / 42
2231	NM23A	2048	8388863	1 x Range	10 / 20	25 / 50
2232	NM23B	2048	8388863	1 x Range	10 / 20	25 / 50
2233	NM23C	2048	8388863	1 x Range	10 / 20	25 / 50
2341	NM34A	2048	8388863	1 x Range	10 / 10	13 / 26
2342	NM34B	2048	8388863	1 x Range	10 / 10	13 / 26
2343	NM34C	2048	8388863	1 x Range	10 / 10	13 / 26
30816	NA08A16	2048	340000	1 x Range	25 / 50	62 / 124
30830	NA08A30	2048	630000	1 x Range	25 / 50	62 / 124
30916	NA08B16	2048	170000	1 x Range	25 / 50	62 / 124
30930	NA08B30	2048	315000	1 x Range	25 / 50	62 / 124
31116	NA11B16	2048	165000	1 x Range	10 / 20	25 / 50
31130	NA11B30	2048	310000	1 x Range	10 / 20	25 / 50
31160	NA11B60	2048	620000	1 x Range	10 / 20	25 / 50
31416	NA14B16	2048	170000	1 x Range	18 / 36	44 / 88
31430	NA14B30	2048	315000	1 x Range	18 / 36	44 / 88
31460	NA14B60	2048	630000	1 x Range	18 / 36	44 / 88
32360	NA23C60	2048	302363	1 x Range	- / -	20 / 40
33460	NA34C60	2048	243038	1 x Range	- / -	20 / 40
7915	LLS915	2048	5900000	1 x Range	10 / 20	25 / 50