Template:A-Series/Quick Tutorial

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Quick Tutorial

The following tutorial uses Zaber Console to communicate with the device(s). Please refer to the ASCII Protocol Manual and/or Binary Protocol Manual for detailed information on the available commands and how to setup and use other software.

Initial Setup

The following steps need to be performed whenever a new unit is being installed.

  1. Power up all integrated devices and controllers in the chain. The power indicator on each should light up.
  2. Download and install Zaber Console. Start Zaber Console and select the communications port the first controller is connected to. For instructions on how to find the available communication ports on your system, please refer to: Appendix A - Available Communications Ports
  3. From the Console, issue a renumber (T:2) command to all devices. The first device closest to the computer in the chain will become device 1; the next, device 2 and so on.
    [[File:{{{Connector}}}_Chain_Renum_w500.jpg|500px|link=|{{{Device}}} Daisy Chain Renumbering]]


Initialization

Every time the device is powered up or reset, the motorized peripheral(s) need to be returned to the home position before they can be used. This is achieved by sending the home (T:1) command to the individual unit or all units. Attempting to move the peripheral before it has been homed will result in an error, as shown below:

/01 move rel 10000↵
@01 0 RJ IDLE WR BADDATA

If the device is being used under manual control, the motorized peripherals need to be driven to the minimum (home) position before they will operate over their full range.

Using the Device

Several commonly used ASCII commands, and their Binary equivalents, are shown below. For a full list of the available commands, please refer to the Command Reference section below.

Command Description
/1 1 get pos↵ (T:60) Query the current position of device #1 axis #1.
/1 1 move abs 10000↵ (T:20:10000) Move device #1 axis #1 to position 10000 microsteps.
/2 1 move rel -12800↵ (T:21:-12800) Move device #2 axis #1 in the negative direction by 12800 microsteps.
/1 stop↵ (T:23) Decelerate and stop ALL axes on device 1.
An axis number of 0 or no no axis number implies all axes on the devices, or the device itself.
/move vel 153600↵ (T:22:153600) Move ALL devices and ALL axes in the positive direction at the speed 153600.
A device address of 0 or no device address implies all devices in the chain.

Modifying Device Settings

Here are some examples if you would like to customize particular device settings. Refer to the ASCII Settings or Command Reference section for detailed descriptions of each setting.

Command Description
/1 set maxspeed 100000↵ (T:42:100000) Set the speed of the all axes on the device.
/1 get maxspeed↵ (T:53:42) Query the axes' speed.
/1 system restore↵ (T:36) Restore all the settings of device 1 to the default.

Built-In Help

Zaber A-Series devices (with ASCII support) feature a built-in help guide, providing a quick and easy reference for all Commands and Settings that the device has. To access the help, send: /1 help

The device will respond with a detailed description on how to access specific information about commands and replies, as shown below:

@01 0 OK IDLE WR 0
#01 0 COMMAND USAGE:
#01 0  '/stop'     stop all devices
#01 0  '/1 stop'   stop device number 1
#01 0  '/1 2 stop'   stop device number 1 axis number 2
#01 0
#01 0 Type '/help commands' for a list of all top-level commands.
#01 0 Type '/help reply' for a quick reference on reply messages.
#01 0 Visit www.zaber.com/support for complete instruction manuals.

To access help for a specific command, for example the move command, send:

/1 help move↵
@01 0 OK IDLE -- 0
#01 0 move abs {x}             Move to absolute position
#01 0 move rel {x}             Move by relative position
#01 0 move vel {x}             Move at constant velocity
#01 0 move min                 Move to minimum position
#01 0 move max                 Move to maximum position