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ASI Tiger TG-1000, Instruction Manual

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ASI Tiger TG-1000 Instruction Manual Download Page 43

11 

 

Function:  

Executes a halt and then moves specified axis motors toward their 

HOME

 position.  The 

default location for the 

HOME

 position (1000 mm) is far past the positive limit of the 

stage travel.  If a hardware or firmware limit switch is encountered, the motor will stop. 
It’s an

 Axis-Specific Command.  

 

Reply:  

If there are no errors, an 

:A 

 is returned. 

Example: 

! X Y Z 

 

:A 

 

The X, Y and Z axis motors will start moving towards the 

HOME 

position.  A 

HALT

 

command can stop the motors.   

 

Note:

  The stage will be positioned at the limit switches or at the previously defined 

HOME

 position at the completion of this command.  See 

SETHOME

. 

 

Summary of Contents for Tiger TG-1000

Page 1: ...al Applied Scientific Instrumentation Inc 29391 W Enid Rd Eugene OR 97402 9533 USA Phone 541 461 8181 Toll free 800 706 2284 U S Canada Fax 541 461 4018 Email info ASIimaging com Web http www ASIimagi...

Page 2: ...t 5 RESET 5 Installation of Cables 6 TG 1000 PROGRAMMING MANUAL 8 Quick Reference Main Operating Commands 8 Quick Reference Customization Commands 9 RS 232 Communication 10 Command 10 Reply 11 MS 2000...

Page 3: ...tifying Controller Configuration 15 Build Command 15 Tiger Banner 17 A Note Regarding Units 18 TG 1000 Command Set 18 Error Codes for TG 1000 Diagnostics 68 Change log 70 CLEANING Maintenance 57 WARRA...

Page 4: ...3 A peak 50 60 Hz AC In rush Current Cold Start 77 A maximum at 240 VAC Fuse Replacement 2 0 A Fast Blow 250 VAC Spare fuse located in Power Jack on Back Panel Mains supply voltage fluctuations not t...

Page 5: ...with power off Stored charge on capacitors could result in personal electrical shock or damaging of electrical components if contact is made to internal circuit boards 5 For indoor use only 6 Do not p...

Page 6: ...to all cards Each card discerns what information to listen to and communicates with the COM card to give responses on the USB port JOYSTICK JOYPOD Input This port allows the attachment of the ASI JOY...

Page 7: ...ound terminal must be properly earth grounded to provide safe protective grounding Where possible correct connection of Neutral and Hot convention should be followed Warning Failure to follow Hot Neut...

Page 8: ...s instruction set differences 7 Identifying Controller Configuration 9 Build Command 9 Tiger Banner 10 A Note Regarding Units 11 TG 1000 Command Set 11 Command ACCEL 11 Command AALIGN 12 Command AFCON...

Page 9: ...ommand AZERO 13 Command BACKLASH 13 Command BCUSTOM Version 3 13 Command BENABLE 16 Command BUILD 17 Command CDATE 18 Command CNTS 18 Command CUSTOMA 19 Command CUSTOMB PLANAR_CORRECTION firmware modu...

Page 10: ...UAL Systems 31 Command MAINTAIN 31 Command MOTCTRL 32 Command MOVE 32 Command MOVREL 33 Command PCROS 33 Command MULTIMV 34 Command PEDAL Requires Foot Pedal Hardware Firmware 35 Command RBMODE RING B...

Page 11: ...pported in TG 1000 45 Command TTL only partly implemented in TG 1000 45 Command UM 47 Command UNITS not supported in TG 1000 47 Command UNLOCK For CRIFF or AF DUAL Systems 47 Command VB Z and F argume...

Page 12: ...11 Change log 53...

Page 13: ...r HOME Moves specified axes to physical limit switches INFO I Returns a screen full of information about specified axis MOTCTRL MC Enables disables motor control for specified axis MOVE M Writes a pos...

Page 14: ...es Displays max position error allowable before the controller will start re correcting position JOYSTICK J Enables Disables Assigns manual control input for an axis JSSPD JS Sets Displays Max speed f...

Page 15: ...separated from the one before by one blank space One or more axes may be specified on a single command line An axis symbol typed without an assignment is often assumed to mean 0 but that behavior isn...

Page 16: ...w that it is processing the command When processing of the command is complete an answer is returned with any requested information typically beginning with the letter A In some cases the answer part...

Page 17: ...X 4 Y 3 Z 1 5 WHERE X Y Z X 4 Y 3 Z 1 5 WHERE Z Y X X 4 Y 3 Z 1 5 Error Codes When a command is received that the TG 1000 cannot interpret for one reason or another an error message is returned in the...

Page 18: ...X Y Z is issued the COMM card in TG 1000 controller parses the command and redirects the command to the appropriate card automatically These commands are called Axis Specific Commands A card address s...

Page 19: ...JSSPD and LED and commands sent to whatever card has the Z axis or all the stage cards if the Z axis doesn t exist e g most CRISP and autofocus commands These sub categories may be referred to as Comm...

Page 20: ...NFO Card Addressed To put in closed loop external input mode 2PZ Z 1 Card Addressed To save settings into non volatile memory 2SS Z Card Addressed To run short calibration on the piezo 2PZC Card Addre...

Page 21: ...d address 1 with an XY stage with axes named X and Y Card number 2 has micro mirror with axes P Q R S Then card address 3 with filter wheel IDs 0 and 1 The next line contains the axis type short code...

Page 22: ...UFFER firmware Bit 2 SCAN firmware Bit 3 ARRAY firmware Bit 4 SPIM firmware v2 81 Bit 5 SINGLEAXIS and or MULTIAXIS firmware v2 81 Bit 6 LED illumination v2 87 Bit 7 Reserved Tiger Banner A banner is...

Page 23: ...number 5th String is our build name which is an internal designation The last set of strings are the firmware compile date and time A Note Regarding Units The most common commands including MOVE MOVER...

Page 24: ...g the move it will begin to decelerate the motors back down to the start velocity where the pulses take over to bring the axes within the pulse crossover position error Command AALIGN Shortcut AA Form...

Page 25: ...ed Shortcut AH Command AIJ Requires ARRAY firmware module not yet tested Shortcut IJ Command ARRAY Requires ARRAY firmware module not yet tested Shortcut AR Command AZERO Shortcut AZ Format AZERO axis...

Page 26: ...sures that the controller always approaches the final target from the same direction A value of zero 0 disables the anti backlash algorithm for that axis zero is default Example B X 05 Y 05 Z 0 A B x...

Page 27: ...nged they will be available even on controller restart Note Behavior of this command is very different pre version 3 0 Press Dur When button is held down for an instant to 1 sec it s a Normal Press Wh...

Page 28: ...rent CRISP operation like stop dither unlock etc 16 ARRAY MODULE related puts ARRAY Module in start state 17 CRIFF related change CRIFF state 18 RING BUFFER related loads current stage position into r...

Page 29: ...n function Lets Query the controller on what the default assignments ended up being 1BCA X Y Z F T R M X 0 Y 0 Z 0 F 0 T 0 R 28 M 18 X Normal Y Long Z Ext Long F Home Long T Home Ext Long R Js btn Nor...

Page 30: ...Now normal press moves to next ring buffer position Home long press clear the ring buffer Joystick button normal press loads current stage position into ring buffer Joystick button long press toggles...

Page 31: ...ses i e BE X 0 is equivalent to BE Z 0 Toggle 1 enables all buttons and pulses default settings i e BE X 1 is equivalent to BE Z 15 Querying X returns the same as querying Z Specific buttons can be en...

Page 32: ...Hex Addr 31 31 32 32 32 32 33 33 Axis Props 0 0 0 0 0 0 0 0 As no address was given Tiger Comm replies It replies with its build name all axis names present in the system axes will always be A Z filte...

Page 33: ...the card The values listed for axis properties are decimal integer representations of a binary code which represents any special properties of the axis Usually these could also be identified by doing...

Page 34: ...NEED THIS FUNCTION Example C X 13490 4 A c x X 13490 4 A Changes the encoder constant on the X axis to 13490 4 counts mm The default values for this parameter are restored upon reset and should not re...

Page 35: ...Closed c 9 Z Scope Drive 100 m rev 50 nm enc resolution N Firmware default 10 Z Scope Drive 200 m rev 50 nm enc resolution Z 19 Z Scope Drive 100 m rev 25 nm enc resolution H 11 Z Leadscrew Coarse Pi...

Page 36: ...70 The joystick and knob are always enabled and the device assignments cannot be changed The JOYSTICK command has no effect J 71 The joystick and knob can be disabled and the device assignments can be...

Page 37: ...0u T 25nm 23 P 1 100um RANGE 24 P 2 200um RANGE 25 P 3 350um RANGE Format Addr CCA Y Function Requires MOVETASK firmware which is typically only included on XY stages Sets number of extra move repetit...

Page 38: ...is negative 9 Disengage clutch D D 10 Engage clutch E E 11 Enable LCD display O O 12 Disable LCD display F F 13 CLOCKED DEVICES take shortest path S 14 CLOCKED DEVICES do not take shortest path L 20 T...

Page 39: ...ative values and lower limit settings must be positive values Command CUSTOMB PLANAR_CORRECTION firmware module required Shortcut CCB Format Addr CCB Z n Function Planar correction functions It s a Ca...

Page 40: ...or TG 1000 and MS 2000 Diagnostics section below It s a Card Addressed command The TG 1000 and MS 2000 controller has several built in diagnostic capabilities that are useful for troubleshooting diffi...

Page 41: ...tcut EP Format EP axis 1 or 1 Function Values are 1 and 1 Adapts the firmware to the counting direction of the motor encoders This setting is normally set by ASI and not changed It s an Axis Specific...

Page 42: ...use as a Non Addressed Command the full command HALT must be used instead of the shortcut because is handled quickly in the command parser Command HERE Shortcut H Format HERE axis position in 1 10 mi...

Page 43: ...re or firmware limit switch is encountered the motor will stop It s an Axis Specific Command Reply If there are no errors an A is returned Example X Y Z A The X Y and Z axis motors will start moving t...

Page 44: ...s ID 24 Drift Error 0 000400 E mm enc_drift_err 18 Finish Error 0 000024 PC mm enc_finsh_err 1 Backlash 0 040000 B mm enc_backlash 1815 Overshoot 0 000000 OS mm enc_overshoot 0 Kp 200 KP Ki 20 KI Kv 1...

Page 45: ...dware required 10 JY and Y wheel combo 11 CRIFF knob used for CRIFF system 22 Z Wheel TG 1000 only right side of joypod 23 F Wheel TG 1000 only left side of joypod Reply If there are no errors the pos...

Page 46: ...ned value that sets the relative speed and direction of the encoder knob not commonly used on TG 1000 xy_knobs_high and xy_knobs_low are used to set the fast and slow speeds for XY_KNOBS and ZF_KNOB w...

Page 47: ...Especially useful when inertia is a factor to improve settling time and stability It s an Axis Specific Command MOST USERS DO NOT NEED TO USE THIS FUNCTION Command KI Shortcut KI Format KI Axis Functi...

Page 48: ...the low level command set The default values are X 24 Y 25 and Z 26 Some systems require X 1 Y 2 and Z 3 This setting can be saved in non volatile memory using the SAVESET command It s an Axis Specifi...

Page 49: ...nd releasing Command LOCK For CRIFF and AF DUAL Systems Shortcut LK Format Addr LK X Y Z F Function Without argument advances to the next system state until the Cal_OK state is reached Once a good cal...

Page 50: ...d The system BUSY is released when the finish error tolerance is first achieved Setting the WAIT time sufficiently long can stabilize post move drifts during data recording but then allow for less pow...

Page 51: ...the X and Y motor control is enabled but disables the Z motor control Command MOVE Shortcut M Format MOVE Axis units 1 10 microns Function Move one or more axis motors to an absolute position The uni...

Page 52: ...additional 123 4 microns in the positive direction at the maximum set speed see SPEED Simultaneously the Y axis will move 32 1 microns in the negative direction while the Z axis will not move at all...

Page 53: ...ted Presently the patterns supported include circles and spirals If users have other special requirements they should contact ASI for assistance The command without any arguments initiates the multi a...

Page 54: ...tarted Spirals Spirals start at current location Presently no lead in move is programmed The spiral equation is r width 2 Motion continues to the maximum radius If mode BIT2 is set the motion then con...

Page 55: ...is It s a Card Addressed command Warning User must ensure that the Rate given in this command is not greater than the maximum speed of the axis being controlled by the pedals Entering an invalid value...

Page 56: ...the next position o 2 One shot autoplay mode A TTL pulse or RM command without arguments plays the ring buffer from current position to end with delay between points set by RT Z make sure delay is se...

Page 57: ...to 8 bits that represent the following internal flags Bit 0 0 No commanded move is in progress 1 A commanded move is in progress This bit is synonymous with the STATUS command If the bit is set then S...

Page 58: ...mat RDSTAT axis axis axis Function Without any additional characters this is the same as RDSBYTE except the data is returned in ASCII decimal format It s an Axis Specific Command When a qualifier is a...

Page 59: ...eset A software reset reinitializes all variables back to their pre assigned values It s usually a Broadcast command but can be used as a Non Addressed Command as well When addressed to a specific car...

Page 60: ...es will be the axis loop time generally 0 25ms times the number of axes e g 1ms for a four axis card The F argument sets num_aves the power of two exponent for the number of samples to be averaged Use...

Page 61: ...settings to non volatile memory on card 2 A Command SAVEPOS Shortcut SP Format Addr SP X inhibit Function The axis positions and soft limit locations can be automatically saved when power is turned of...

Page 62: ...ssed in millimeters During scanning the stage will move past both of these positions slightly so that when scanning within the range specified the scan proceeds with uniform speed set by the SPEED com...

Page 63: ...RE X p Function With stages equipped with Micro Servo lock mechanism this command is used to lock or unlock samples on the stage The value of p determines the position of the lever arm and can be any...

Page 64: ...need to be saved using the SAVESET command It s an Axis Specific Command Reply If there are no errors a positive reply of A followed by the startup sequence For the Z axis only input values equal to...

Page 65: ...s linear encoders SEARCH INDEX or rotary encoders SEEK LIMITS This functionality is available by request from ASI It is not included with standard firmware Shortcut SI Format SI axis position in 1 10...

Page 66: ...n mm sec Function Sets the maximum speed at which the stage will move during a commanded move e g using MOVE MOVEREL or the home joystick button speed during joystick moves is separate and set using t...

Page 67: ...all axes Queries the controller whether or not any of the motors are still busy moving following a serial command Using the shortcut is the preferred method for rapid polling of the controller for a b...

Page 68: ...on of the stored positions in the Ring Buffer pointed to by the buffer_pointer When the buffer_pointer reaches a value equal to the number of saved positions it resets to the first position allowing c...

Page 69: ...se output See RT command Requires PREPULSE firmware module 9 TTL OUT0 PWM and MicroServo Output See the LED or the SECURE command Requires LED_DIMMER or USERVO firmware module 10 TTL OUT0 set during S...

Page 70: ...as MOVE and WHERE Default values are 10000 mm setting the default input scaling to 0 1 m count The sign of the Units Multiplier can be used to change the relative direction of motion for commanded mo...

Page 71: ...es the reply termination for CR LF to just CR Bit 4 16 Move and Move Rel will print the new Target Position Bit 5 32 Axes positions reported upon completion of a commanded move Example 1VB X 7 turns o...

Page 72: ...axis on target It s an Axis Specific Command Example wt x X 0 A WT X 20 A Sets the wait time for the X axis to 20 ms Command WHERE Shortcut W Format WHERE axis axis axis Function Returns the current...

Page 73: ...4CH May 10 2013 16 22 55 Command WRDAC not supported on TG 1000 Format addr WRDAC axis Function Lets the user set the voltage on header pin SV1 5 on WK2000 board The voltage can be varied between 0 an...

Page 74: ...ific Command If the Z2B value of an axis is queried e g Z2B Y the axis index on the card is returned e g A Y 1 for the 2nd axis on the card Reply If there are no errors a positive response of A will b...

Page 75: ...ve TTL edge is detected the Z axis is moved by an amount dZ expressed in 10th microns units This move distance is repeated for n TTL triggered moves If mode 1 the stage will step in the opposite direc...

Page 76: ...reached axis unspecific 35 LOWER LIMIT Lower Limit reached axis unspecific 40 42 PULSE PARAMETER VALUES OUT OF RANGE code error 44 FINISH SPEED CLAMP Reached the maximum allowed move finishing speed 4...

Page 77: ...CK_ERROR 205 ERR_TTL_MISMATCH I2C bus error 255 10 MINUTE CLOCK Provides time reference for error dump list 300 Autofocus Scan failed due to insufficient contrast 302 Clutch Disengaged Engage clutch t...

Page 78: ...Vik 5 21 13 TG 1000 Prog started guide integrated into this doc Vik 6 20 2013 New options to CCA Z Vik 7 2 2013 Major edits to commands to better represent TG 1000s expectations Vik 7 26 2013 Expanded...

Page 79: ...not extend to damaged equipment resulting from alteration misuse negligence abuse or as outlined below Equipment not manufactured by ASI that is offered as part of complete systems carry the original...

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