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Zaber T-JOY, Руководство пользователя

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Copyright © Zaber Technologies Inc. 

9 REPLY-ONLY 

REFERENCE 

 
In general, a T-series device will reply to an instruction using the same command number as the instruction 
itself. However, there are occasions 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. 
 

9.1  Reply #255 – Error 

 

Firmware Version: 

Version 5.00 and up 

Reply Number: 

255 

Reply Data: 

Error code 

 
An error has occurred. The error code returned in the data indicates the type of error. The unit 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). Please see the next section on error codes for a full table of 
possible error codes. 
 

 

Page 27 of 32 

Содержание T-JOY

Страница 1: ...er s Manual Firmware Version 5 00 and up This manual covers only model T JOY Document Revision 2006 11 23 Visit www zaber com for more recent updates Zaber Technologies Inc 2891 Steveston Hwy Richmond BC V7E 2J1 Canada ...

Страница 2: ...EVENT TRIGGERED INSTRUCTION 30 16 8 9 RETURN EVENT TRIGGERED INSTRUCTION 31 20 8 10 CALIBRATE JOYSTICK 33 21 8 11 RESTORE LOCK UNLOCK SETTINGS 36 22 8 12 SET DEVICE MODE 40 23 8 13 SET ALIAS 48 24 8 14 RETURN DEVICE ID 50 25 8 15 RETURN FIRMWARE VERSION 51 25 8 16 RETURN POWER SUPPLY VOLTAGE 52 25 8 17 RETURN SETTING 53 25 8 18 ECHO DATA 55 26 9 REPLY ONLY REFERENCE 27 9 1 REPLY 255 ERROR 27 10 ER...

Страница 3: ...s combinations of the devices below T LA Series Linear Actuators T CD Series 2 Phase Stepper Motor Controllers T LS Series Linear Stages T LLS Series Long Travel Linear Slides T MM Series Motorized Mirror Mounts T NM Series Steppers with built in Controllers For more information on any of these products or to sign up for our quarterly email newsletter with product updates and promotions please vis...

Страница 4: ...larly useful in conjunction with the T JOY since any button on the T JOY may be programmed to issue these instructions to all connected units in order to store and recall a position in 3 dimensional space 2 FIRMWARE VERSION INFORMATION 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...

Страница 5: ... for the joystick and 320 mA for each actuator The current draw of each device is given in the specifications section of the user s manual for the device When powering long chains of devices we recommend connecting a power supply to every second or third device in the chain to reduce the current through the data cables Once you have a working power supply you can test the operation of the T JOY Co...

Страница 6: ...cable extension to reach your computer There is no need to power down or reboot the computer USB to RS232 converters are available if you have no RS232 serial port Step 2 Connect at least one additional T Series device to the shorter T JOY data cable female end Connect the power plug of your power supply 2 1mm center positive to the power connector of the T JOY The green LED should light on the T ...

Страница 7: ...ady received We recommended 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 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Unit Command Data Least Significant Byte LSB Data Data Data Most Significant Byte MSB The first byte is the unit number in the chain After renumbering...

Страница 8: ...s Velocity Profile 1 2 3 or 0 to toggle 1 2 or 3 14 29 Set Axis Velocity Scale Maximum Velocity 0 to disable axis Echo of Command Data 15 30 Set Key Trigger Trigger number Echo of Command Data 16 31 Return Key Trigger Trigger number Stored function the complete command 20 33 Calibration 0 1 or 2 Echo of Command Data 21 36 Restore Default Settings 0 Echo of Command Data 22 40 Set Device Mode Mode C...

Страница 9: ...hannels Communication Mode see manual for more details 7 128s Reserved This bit is reserved Do not modify 8 256s Reserved This bit is reserved Do not modify 9 512s Reserved This bit is reserved Do not modify 10 1 024s Reserved This bit is reserved Do not modify 11 2 048s Reserved This bit is reserved Do not modify 12 4 096s Reserved This bit is reserved Do not modify 13 8 192s Reserved This bit is...

Страница 10: ...rsion 5 00 and up Command Number 2 Data Bytes If issued to all units Ignored If issued to a single unit new number Reply Data Each unit affected replies with its device ID after renumbering Note The unit number is stored in non volatile memory and will persist after power down or reset If issued with a 0 in Byte 1 the data bytes are ignored and all units will renumber The unit closest to the compu...

Страница 11: ...ree axes on the joystick are defined as follows Axis 1 Right is the positive direction of manipulation Left is the negative direction of manipulation Axis 2 Forward is the positive direction of manipulation Back is the negative direction of manipulation Axis 3 Clockwise is the positive direction of manipulation Counter clockwise is the negative direction of manipulation For example to set the maxi...

Страница 12: ...e have shown three T LS units below in a daisy chain as follows Issue the Renumber 2 command from the computer After renumbering less than 1 second the joystick will become unit 1 and the remaining units will become units 2 3 and 4 Now commands may be issued to the joystick to set the desired behavior The command sequence is as follows Unit Command Data Explanation of command 0 2 0 Renumber After ...

Страница 13: ...fter power down or reset Sometimes it is desirable to invert one or more axes to create a more intuitive user interface The Set Axis Inversion 27 command allows the user to set the inversion status of the active axis Each axis can be inverted independently of the other two axis See command 26 for an example of how to invert a particular axis Direction of Manipulation of Joystick Direction of Motio...

Страница 14: ...ower down or reset This setting allows the user to select the desired relationship between the angular displacement of the active joystick axis and the velocity of the unit controlled by that axis When the joystick is displaced from the neutral position the T JOY3 reads the angular position and calculates how fast and in which direction the corresponding units should be instructed to move There ar...

Страница 15: ...esponding to full displacement of the joystick When the joystick is moved away from the neutral position the displacement is translated into Move At Constant Velocity instruction which is sent to the unit associated with the displaced axis See the user s manual for the device in question for more information on the Move At Constant Velocity instruction The velocity scale setting works in conjuncti...

Страница 16: ...be changed by the user Each of the 4 key events may be programmed to trigger a single instruction It can be seen that pressing and releasing a key will result in a sequence of key events that will be either 1 2 or 1 3 4 depending when the key is released Instructions associated with key events are called event triggered instructions When any key event occurs an event triggered instruction will be ...

Страница 17: ...g event triggered instructions The following table shows the data value necessary to select a particular key event with which to associate the next instruction Key Event 1 Event 2 Event 3 Event 4 1 11 12 13 14 2 21 22 23 24 3 31 32 33 34 4 41 42 43 44 5 51 52 53 54 The following table shows the default event triggered instructions associated with each key event Key Event Key Event Default Instruct...

Страница 18: ...e an XYZ stage to a desired position then hold down the key for more than 1 second to store the current position of the stage After moving the stage around some more the user can return to the stored position by quickly pressing and releasing the same key For a description of the Store Current Position and Go To Stored Position instructions please see the user s manual of the product in question A...

Страница 19: ...l stop Assuming that the joystick is unit 1 the programming sequence is as follows Unit Command Data Explanation of command 1 30 11 Program key 1 event 1 to trigger the instruction 5 22 1000 Unit 5 Move at Constant Velocity 1000 1 30 12 Program key 1 event 2 to trigger the instruction 5 23 0 Unit 5 Stop 1 30 13 Program key 1 event 3 to trigger the instruction 5 22 4000 Unit 5 Move at Constant Velo...

Страница 20: ...so the user s application on the computer can detect individual key events and take appropriate action whatever the user decides that may be 8 9 Return Event Triggered Instruction 31 Firmware Version Version 5 04 and up Command Number 31 Data Bytes Indicates the event number for which to return the associated instruction Reply Data The reply data is the event triggered instruction unit command dat...

Страница 21: ...ored in non volatile memory and will persist after power down or reset This instruction is used to calibrate the joystick There are two sets of calibration variables limits and dead bands Limits define the maximum angular displacement of all axes of manipulation Dead bands define the area around the neutral position of the joystick where no action should occurs Dead bands are useful to adjust the ...

Страница 22: ...position Issue command 33 data 0 to save the measured limit parameters 8 11 Restore Lock Unlock Settings 36 Firmware Version Version 5 00 and up Command Number 36 Data Bytes 0 restore settings to factory defaults 2768033 lock settings 3308672 unlock settings Reply Data Reply data is simply an echo of the command data Note All settings affected by this instruction are stored in non volatile memory ...

Страница 23: ...le 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_0 disable autore...

Страница 24: ...tely after powerup bit_15 32 768 Disable Serial LED A value of 1 turns off the yellow serial LED 8 13 Set Alias 48 Firmware Version Version 5 00 and up Command Number 48 Data Bytes Byte 3 is the alias unit number Valid numbers are between 0 and 254 To avoid confusion it is best to choose an alias greater than the number of units connected However this is not required Reply Data Reply data is simpl...

Страница 25: ...ion 5 02 8 16 Return Power Supply Voltage 52 Firmware Version Version 5 00 and up Command Number 52 Data Bytes Ignored Reply Data Power supply voltage This causes the unit to return the voltage level of its power source A decimal is assumed before the last digit For example reply data of 127 indicates 12 7 V Note that the voltage is only an approximation 8 17 Return Setting 53 Firmware Version Ver...

Страница 26: ...s simply an echo of the command This causes the unit to echo back the same data that was sent This instruction is a useful one to use as an event triggered instruction associated with a key event It can be used to allow the computer if one is connected to detect a key press on the joystick For more details see the Load Event Triggered Instruction 30 command Page 26 of 32 ...

Страница 27: ...eply 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 9 1 Reply 255 Error Firmware Version Version 5 00 and up Reply Number 255 Reply Data Error code An error has occurred The error code returned in the data indicates the type of error The unit may send an error code as a reply t...

Страница 28: ...ata out of range Must be 0 1 or 2 36 Restore Lock Unlock Settings Data out of range Must be 0 2768033 or 3308672 40 Set Mode One or more of the Mode Bits is invalid 48 Set Alias Data out of range Must be between 1 and 254 inclusive 53 Return setting Data out of range Must be a valid setting number 64 Command number not valid in this firmware version 255 Another command is currently executing and c...

Страница 29: ...r 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 The amber light comes on briefly when sending a command but the device does not reply Check baud rate hand shaking parity stop bit etc Make sure that your software does not transmit any control characters like line feed space...

Страница 30: ...computer can communicate with each unit independently Check the unit numbers associated with each axis of the joystick to see that they address the correct unit in the daisy chain Try moving the joystick again Moving the joystick causes no motion The green LED is on but the yellow LED stays off One of the following conditions could cause this symptom The joystick axis could have been disabled by s...

Страница 31: ...s next unit Male PS2 Pin outs Towards computer 1 Not Connected Not Connected 2 Receive from next unit Transmit toward computer 3 Ground Ground 4 12V Power 12V Power 5 Not Connected Not Connected 6 Transmit to next unit Receive from computer Serial Adaptor Pin Configuration Mini Din 6 DB9 Function 2 2 Device Transmit Computer Receive 3 5 Ground 6 3 Device Receive Computer Transmit All Other Not Con...

Страница 32: ...l us the tracking number of the shipment i e FedEx or UPS 16 EMAIL UPDATES If you would like to receive our quarterly email newsletter with product updates and promotions please sign up online at http www zaber com news section 17 DISCLAIMER Zaber s devices are not intended for use in any critical medical aviation or military applications or situations where product malfunction or failure could ca...

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