Zaber T-CON3 User manual

ZABER T-CON3 CONTROLLER
USER’S MANUAL
Firmware version 1.00 and Up
Document Revision: 2006-07-06
Visit www.zaber.com for more recent updates.
Zaber Technologies Inc.
2891 Steveston Hwy
Richmond, BC, V7E 2J1
Canada

Table of Contents
1. Introduction............................................................................................................................. 2
1.1 Features........................................................................................................................... 2
1.2 Compatibility .................................................................................................................. 2
1.3 Applications.................................................................................................................... 3
2. Quick Start Guide ................................................................................................................... 4
2.1 Power Up ........................................................................................................................ 4
2.2 Establish Connection ...................................................................................................... 5
2.3 Moving the Actuator....................................................................................................... 6
2.4 Multiple Actuators.......................................................................................................... 7
3. Controller Operation............................................................................................................... 8
3.1 Main Menu...................................................................................................................... 9
3.2 Actuator Menu.............................................................................................................. 10
4. Main Menu............................................................................................................................ 11
4.1 User Step....................................................................................................................... 11
4.2 Initialize ........................................................................................................................ 12
4.3 LCD Settings................................................................................................................. 12
4.4 Measurement................................................................................................................. 13
4.5 Reset.............................................................................................................................. 13
4.6 About............................................................................................................................. 13
5. Actuator Menu...................................................................................................................... 14
5.1 Stop............................................................................................................................... 14
5.2 Move Absolute.............................................................................................................. 14
5.3 Move Relative............................................................................................................... 14
5.4 Home............................................................................................................................. 15
5.5 Settings.......................................................................................................................... 15
5.5.1 Restore All............................................................................................................ 15
5.5.2 Start Speed............................................................................................................ 16
5.5.3 Target Speed ......................................................................................................... 16
5.5.4 Acceleration.......................................................................................................... 17
5.5.5 Mode Bits.............................................................................................................. 17
5.5.6 Range .................................................................................................................... 18
5.5.7 Current Position.................................................................................................... 18
5.5.8 Run Current........................................................................................................... 19
5.5.9 Hold Current ......................................................................................................... 19
5.5.10 Micro Step............................................................................................................. 19
5.6 Device Info.................................................................................................................... 19
5.6.1 Device ID.............................................................................................................. 19
5.6.2 Version.................................................................................................................. 20
5.6.3 Voltage.................................................................................................................. 20
6. Troubleshooting.................................................................................................................... 21
7. Warranty ............................................................................................................................... 22
8. Technical Support and Contact Information......................................................................... 22
Copyright © Zaber Technologies Inc. Page 1 of 22

1. Introduction
1.1 Features
Features of the T-CON3 controller include:
•Easy-to-read 16 characters x 4 line backlit high-contrast LCD display
•Compatible with all of Zaber’s T-series devices
•Display and control the exact position for up to three axes
•Rotary encoder knob with detents for rapid and precise motion control
•Function keys for rapid selection of devices and features
•Small form-factor takes up less room on a work bench than a computer
•Intuitive and powerful user interface saves time
•Plug-and-play, no programming required
1.2 Compatibility
The T-CON3 is designed specifically to control Zaber’s T-series motorized devices. At the time
of writing, the T-CON3 is compatible with the following product lines:
•T-LA series linear actuators
•T-HLA series heavy duty linear actuators
•T-LS series motorized linear stages
•T-LLS series motorized long travel linear stages
•T-MM2 series motorized mirror mount (2 axis device)
•T-CD series chopper drive 2 phase stepper controller
•T-NM series stepper motors with build in controllers
Copyright © Zaber Technologies Inc. Page 2 of 22

1.3 Applications
Up to three devices (1 axis per device) may be daisy-chained with a single T-CON3 controller.
While any number of Zaber T-series products may be connected directly to the serial port (RS-
232) of a personal computer, the T-CON3 controller can still replace the PC in many situations
and offers some unique advantages.
Feature T-CON3
Controller PC running Zaber demo software or customer software
Maximum number of devices 3 255
Size of controller W: 75mm(3”)
L: 140mm(5.5”)
H: 65mm (2.5”)
Size of customer’s
computer or laptop
Rotary knob with detents for
rapid and precise motion control Yes No
Function keys for rapid
selection of devices and features Yes Depends on software
Simplified user interface for
ease of use Yes Depends on software
Programming required No Yes if required control is beyond
the scope of demo software
Programmable move sequences
and trajectories No Yes with custom control software
The T-CON3 controller is a great complement to Zaber’s T-series motorized devices in many
application scenarios:
•Remote control and readout of a motorized actuator such as our T-LA series, for
example, motion control in a vacuum chamber.
•Simple manual step and repeat operations with user-specified step size. One click of the
rotary encoder moves a user specified distance.
•Controller box makes it easy to set up an experiment initially without a computer, with
the potential to automate the process afterwards.
•Replaces digital micrometers with a full-featured motorized micrometer.
•Small footprint saves space on a workbench compared to using a computer or other bulky
controller units.
Copyright © Zaber Technologies Inc. Page 3 of 22

2. Quick Start Guide
This section describes how to get the controller up and running. The quick start guide assumes
that the user has the following components ready:
•T-CON3 controller
•One or more T-series motorized products (T-LA series, T-HLA series, T-LS series, T-
LLS series, T-MM2 series, etc)
•12V Power supply with 2.1mm center-positive plug
2.1 Power Up
The first step is to verify that the controller powers up by itself. Do not connect any actuator to
the controller yet. Plug the 12V power adaptor into a live power bar or live wall socket. Plug
the power plug into the T-CON3 controller to power up the device. There is no separate power
switch. The LCD backlight should be lit and the splash screen will be displayed.
ZABER
www.zaber.com
T-CON3 v1.00
Initializing...
The controller will immediately begin searching for any connected actuators. Since no actuator
is connected, after trying to initialize for about 2 seconds on the splash screen, the controller will
display on the lowest line “Device not found”. Then it will attempt to search for devices again,
finally giving up and displaying the following screen:
Initializing...
Device not found
Check connection
Retry Y
The above screen verifies that the device powers up and is working properly. Pressing the button
next to “Retry” will instruct the controller to search for external actuators again, and return to the
same screen if no actuators are found.
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2.2 Establish Connection
Now, connect one of Zaber’s T-series actuators to the controller. If the actuator has a knob on
the end, make sure the knob is centered or it may interfere with the initialization process. In this
example we assume that only one T-LA28A actuator is connected, though up to 3 actuators can
be controlled. Press the button next to the clear arrow next to the words “Retry”. The controller
will try to initialize again.
Initializing...
Found 1 device
Next Y
This time it should display the above message if you have a T-LA28A actuator connected. Now
you may either press the button next to the clear arrow, or simply wait 3 seconds for the next
screen to be displayed:
1 282879 bit Y
Step 100 bit Y
The “1” in the upper left hand corner indicates the device number, while the “282879 bits”
indicate the actuator’s position. When the actuator powers up, the internal position counter of
the actuator defaults to the maximum extension. This is done to prevent over-extension of the
actuator before the actuator is homed and the position counter is reset to zero.
Copyright © Zaber Technologies Inc. Page 5 of 22

2.3 Moving the Actuator
Press the button next to the top line. The arrow turns black indicating that the line is selected.
When a line displaying an actuator is selected, turning the knob will cause the actuator to move
by the step size shown on the bottom line.
Try turning the knob counterclockwise, which causes the actuator to retract the leadscrew. If the
knob is turned counterclockwise sufficiently, the actuator will hit the home switch and reset the
internal position counter to zero. The position counter cannot go negative.
1 0 bit W
Step 100 bit Y
For high-resolution actuators like the T-LA28, each bit is approximately equal to 0.1um. The
bottom line indicates the step size (100 bits or approximately 10 um in the above example).
Moving in steps of 100 bits is very time consuming for moving large distances. The step size can
be changed by selecting the bottom line (press the button next to the clear arrow on the bottom
line). When the bottom line is selected, the clear arrow turns black. Turning the knob will now
change the step size as shown below:
1 0 bit Y
Step 2000 bit W
The available standard step sizes are: 50000, 20000, 10000, 5000, 2000, 1000, 500, 200, 100, 50,
20, 10, 5, 2, 1, and a user-defined step size. See section on Main Menu, User Step command for
information on setting the user-defined step size.
Copyright © Zaber Technologies Inc. Page 6 of 22

2.4 Multiple Actuators
There is no need to power up the controller before connecting the actuators. For example, if
power is applied to the controller with two T-LA28 actuators already connected (daisy chained),
initialization will occur while the splash screen is displayed, and the display will change directly
to the control screen below:
1 282879 bit Y
2 282879 bit Y
Step 100 bit Y
The two actuators are renumbered to be 1 and 2 during initialization, with number 1 being the
actuator plugged directly into the controller, and number 2 being the actuator daisy-chained to
the first actuator. Either device can be selected by pressing the button next to the clear arrow on
the appropriate line.
When connecting multiple actuators, it is recommended that all the actuators be daisy-chained
and connected to the controller before the power is applied. This is because the controller
initializes and renumbers all of the devices on power up. Alternately, the user can issue an
initialization command after power up. See the section on Main Menu, Initialize command for
more detail.
The power plug may be applied to the controller or to any of the devices connected to the
controller. Multiple power adaptors may be necessary to meet the current requirement when a
lot of devices are daisy-chained. Please see the data sheets for individual devices for more detail.
Copyright © Zaber Technologies Inc. Page 7 of 22

3. Controller Operation
The main control screen of the T-CON3 enables the user to quickly and accurately select and
move an actuator to the desired position. Select any actuator by pressing the button next to the
clear arrow on the appropriate line. A selected line is indicated by a black arrow.
Change the step size by pressing the button next to the clear arrow on the bottom line, and
turning the rotary knob. The available standard step sizes are: 50000, 20000, 10000, 5000, 2000,
1000, 500, 200, 100, 50, 20, 10, 5, 2, 1, and user-defined step size (see section on Main Menu,
User Step command for more information on user-defined step size).
When the step size is set to the desired value, select one of the actuators again and turn the knob
to move the actuator in increments of the step size indicated on the bottom line.
1 4550 bit Y
2 1200 bit Y
Step 200 bit W
The T-CON3 also has many additional features that may be accessed by going into either the
Main Menu, or the Actuator Menu. Access the Main Menu by selecting the bottom line, and
pressing the rotary knob instead of turning it. Access the Actuator Menu by selecting one of the 3
top lines and pressing the rotary knob. From either Menu you may press the rotary knob again to
return to the main control screen.
Copyright © Zaber Technologies Inc. Page 8 of 22

3.1 Main Menu
The Main Menu enables the user to change global parameters affecting the controller (like LCD
Settings), or issue commands that are not specific to a particular actuator (like Initialize). Access
the Main Menu from the control screen by selecting the bottom line, and pressing the rotary
knob. The following Main Menu will be displayed:
1-User Step Y
2-Initialize Y
3-LCD Settings Y
... Back Y
When in any menu, the left hand side displays a number next to the function. The number is
simply the order that the functions show up on the menu. The three dots on the bottom left-hand
corner of the screen (“…”) indicate that there are more functions on the menu. Scroll the menu
up and down by turning the rotary knob:
4-Measurement Y
5-Reset Y
6-About Y
Back Y
Select any function by pressing the button next to the line with the clear arrow. At the bottom
right hand corner there is a “Back” button that allows the user to back up to the previous level of
menu, or back out to the main control screen. Pressing the rotary knob at any level of the menu
jumps all the way back to the main control screen.
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3.2 Actuator Menu
The Actuator Menu enables the user to change specific device parameters affecting only the
selected device. Access the Actuator Menu from the main control screen by select a device from
the top 3 lines. With an actuator selected, press the rotary knob. The following Actuator Menu
will be displayed:
1-Stop Y
2-Move Abs Y
3-Move Rel Y
... Back Y
The left hand side displays a number next to the function. The number is simply the order that
the functions show up on the menu. The three dots on the bottom left-hand corner of the screen
(“…”) indicate that there are more functions on the menu. Scroll the menu up and down by
turning the rotary knob:
4-Home Y
5-Settings Y
6-Device Info Y
Back Y
Select any function or submenu by pressing the button next to the line with a clear arrow. At the
bottom right hand corner there is a “Back” button that allows the user to back up to the previous
level of menu, or back out to the main control screen. Pressing the rotary knob at any level of
the menu jumps right back to the main control screen.
Copyright © Zaber Technologies Inc. Page 10 of 22

4. Main Menu
This section describes all of the functions under the Main Menu in detail. The main menu
contains functions and commands that affect the controller, or affects all of the devices chained
to the controller.
4.1 User Step
This command lets the user specify a step size to move the actuator for each click of the rotary
knob. The step size is selected on the bottom line of main control screen. The standard sizes of
50000, 20000, 10000, 5000, 2000, 1000, 500, 200, 100, 50, 20, 10, 5, 2, and 1. However,
sometimes the user may want to move a preset number of microsteps in a step-and-repeat type
operation. This function allows the user to set a custom step size from 1 to 99999.
User Step Size:
00345bit Y
Ok Y
Back Y
Simply turn the rotary knob to change the currently highlighted digit. Press the button next to
the line to advance the blinking cursor to the next digit. When satisfied, press “Ok” to set the
custom step size, or press “Back” to cancel.
On the main control screen, select the bottom most line, and turn the rotary knob counter-
clockwise until the lower left-hand corner displays “User” instead of “Step”. Now, select one of
the actuators and each click of the rotary knob will move the actuator by the user-specified
amount shown on the bottom line.
1 4550 bit Y
2 1200 bit Y
User 345 bit W
Copyright © Zaber Technologies Inc. Page 11 of 22

4.2 Initialize
This command initializes the daisy chain of actuators by sending a “Renumber” (command 2) to
the actuators and asking them to return their current positions. If no device is found, it will ask
the user to retry until a device is successfully connected and found.
Initializing...
Device not found
Check connection
Retry Y
If devices are found, it will display a message. The user may press “Next” or simply wait 3
seconds to jump to the main control screen.
Initializing...
Found 2 devices
Next Y
The initialization command is useful when new devices are hot-swapped in and out of the daisy
chain. For example, if there are already two devices connected and a device is either added or
subtracted from the end of the daisy chain, execute the initialization command to renumber all of
the actuators. The controller does not reset the positions of the actuators on initialization;
therefore all actuators that remain powered-up during the hot swapping will not lose their
position.
4.3 LCD Settings
This feature allows the user to change the brightness and contrast of the LCD screen.
Display
BRI [###### ] W
CON [#### ] Y
Ok Y
The bar graph indicates the current brightness and contrast settings. Select the brightness or
contrast by the button next to the line, and turn the rotary knob to change the settings. The
backlight can be turned off completely at the lowest brightness setting.
There is an optimal contrast setting for a specific viewing angle and temperature. The contrast
setting also affects the response time of the LCD display.
Copyright © Zaber Technologies Inc. Page 12 of 22

4.4 Measurement
The default measurement unit on the controller is “bit”, or a single microstep on the actuator.
However, the controller is capable of displaying position data in microns (“um”) for T-LA, T-
HLA, and T-LS series of actuators and any device for which the leadscrew pitch and motor step
configuration work out to be 128 bits = 12.7 um.
On the measurement screen, the preferred unit of measurement is displayed with square brackets
around it. Pressing the button next to the units of measurement will toggle the square bracket.
Measurements:
bits [um] Y
Back Y
Press “Back” or the rotary knob to escape back to the main control screen which now shows um.
1 99.2 um Y
Step 10.0 um W
Note that the communication between the controller and the actuators are still done in bits. The
controller converts from um to bits before sending the correct amount of relative movement to
the actuator, and converts from bits back to um after receiving a reply of the position from the
actuator after it finishes moving. Originally the display was showing actuator 1 at 1000 bit
position. The controller now displays the position as 1000 x 127 / 128 = 99.2 um.
4.5 Reset
This command simply resets the T-CON3 controller. The controller will go through power-up,
display the splash screen, and attempt to initialize the actuators.
4.6 About
This command displays the splash screen, same screen displayed on power-up or reset. The
controller model number (T-CON3) is on the left and the firmware version is display on the
right. On the bottom line is the “Back” button to go back to the previous menu.
ZABER
www.zaber.com
T-CON3 v1.00
Back Y
Copyright © Zaber Technologies Inc. Page 13 of 22

5. Actuator Menu
This section describes all of the functions and sub-menus under the Actuator Menu in detail.
Functions in the Actuator Menu affect only the selected actuator device. Please refer to Zaber
Technologies’ T-series user’s manuals and command reference for more detail description on the
actual commands.
5.1 Stop
This action issues a stop command (command 23) to the selected actuator.
5.2 Move Absolute
This command sends a “Move Absolute” (command 20) to the selected actuator. The following
screen lets the user pick the destination position of the actuator. Turning the rotary knob changes
the digit highlighted by the blinking cursor, while pressing the button next to the number
advances the cursor to the next digit.
Move Absolute:
0001230 bit Y
Ok Y
Back Y
The “Ok” button executes the command and returns to the main control screen. The “Back”
button returns to the Actuator menu without executing the command. Pressing the rotary knob
escapes to the main control screen without executing the command. The Move Absolute
command is only executed by the actuator if the requested position is within range setting of the
actuator. Otherwise the command is ignored.
5.3 Move Relative
This command sends a “Move Relative” (command 21) to the selected actuator. The following
screen lets the user select a positive or negative relative move for the actuator. Turning the
rotary knob changes the sign or digit highlighted by the blinking cursor, while pressing the
button next to the number advances the cursor to the next digit.
Move Absolute:
-0000250 bit Y
Ok Y
Back Y
The “Ok” button executes the command and returns to the main control screen. The “Back”
button returns to the Actuator menu without executing the command. Pressing the rotary knob
returns to the main control screen without executing the command. The Move Relative
command is only executed if the requested relative move falls within the actuator’s movement
range. Otherwise the command is ignored.
Copyright © Zaber Technologies Inc. Page 14 of 22

5.4 Home
This action sends a “Home” command to the selected actuator. The actuator will retract until it
hits the home sensor, at which point it will reset its position counter to zero, and return its current
position (0) to the controller. The controller will display the main control screen after executing
the “Home” command.
5.5 Settings
Settings is a sub-menu that allows the user to change internal settings of the actuator. These
settings are stored in the actuator, not the controller.
1-Restore All Y
2-Start Speed Y
3-Target Speed Y
... Back Y
When in the Settings sub-menu, turning the rotary knob scrolls through the menu, pressing the
“Back” key returns to the previous Actuator Menu, and pressing the rotary knob escapes back to
the main control screen.
5.5.1 Restore All
This command restores the selected actuator settings to factory default (command 36). The user
is asked to confirm:
Reset to default
Settings?
Ok Y
Back Y
Pressing “Ok” restores the default and returns to the previous Settings menu. Pressing “Back”
returns to the Settings menu without restoring factory default settings.
Copyright © Zaber Technologies Inc. Page 15 of 22

5.5.2 Start Speed
This command enables the user to set the starting microstep period of the actuator (command 41)
which controls the start speed. Please see the user manual of the actuator for more detail on this
setting.
Start Speed:
0000096 Y
Ok Y
Back Y
The display shows the current setting retrieved from the actuator. Turning the rotary knob
changes the digit highlighted by the blinking cursor, while pressing the button next to the number
advances the cursor to the next digit. Pressing “Ok” sets the new value for the selected actuator,
while “Back” cancels the operation without changing the value.
5.5.3 Target Speed
This command enables the user to set the target microstep period of the actuator (command 42)
which controls the running speed. Please see the user manual of the actuator for more detail on
this setting.
Target Speed:
0000048 Y
Ok Y
Back Y
The display shows the current setting retrieved from the actuator. Turning the rotary knob
changes the digit highlighted by the blinking cursor, while pressing the button next to the number
advances the cursor to the next digit. Pressing “Ok” sets the new value for the selected actuator,
while “Back” cancels the operation without changing the value.
Copyright © Zaber Technologies Inc. Page 16 of 22

5.5.4 Acceleration
This command enables the user to set the acceleration rate of the actuator (command 43). Please
see the user manual of the actuator for more detail on this setting.
Acceleration:
0000001 Y
Ok Y
Back Y
The display shows the current setting retrieved from the actuator. Turning the rotary knob
changes the digit highlighted by the blinking cursor, while pressing the button next to the number
advances the cursor to the next digit. Pressing “Ok” sets the new value for the selected actuator,
while “Back” cancels the operation without changing the value.
5.5.5 Mode Bits
Mode Bits are binary switches that affect certain operations of the actuator. The Mode Bits
command allows the user to turn features on or off for the selected actuator. The T-CON3
controller allows the user to change the following mode bits:
•Anti-backlash
•Anti-sticktion
•Manual control
•Hold
When Mode Bits is selected, the following menu is displayed. Turning the rotary knob scrolls
the menu up and down:
1-Antiback..offY
2-Antistick.offY
3-Manual....on Y
... Ok Y
The mode bits displayed reflects the current state of the mode bits in the actuator. Pressing any
button next to a mode bit toggles its “on” or “off” status. Note that “on” or “off” does not
necessarily correspond to “1” and “0” on the actuator’s manual, but is a reflection on whether the
feature as described is enabled. For more information and explanation on the various Mode Bits,
please see the user’s manual of the actuator.
Copyright © Zaber Technologies Inc. Page 17 of 22

5.5.6 Range
This command enables the user to set the maximum range of the actuator (command 44). Please
see the user manual of the actuator for more detail on the maximum range parameter.
Set Range:
0282624 bit Y
Ok Y
Back Y
The display shows the current maximum range retrieved from the actuator. Turning the rotary
knob changes the digit highlighted by the blinking cursor, while pressing the button next to the
number advances the cursor to the next digit. Pressing “Ok” sets the new maximum range of the
selected actuator, while “Back” cancels the operation without changing the maximum range.
The current position of the actuator may not exceed the maximum range setting of the actuator.
A Move Absolute or Move Relative command that exceeds the maximum range of the actuator
will be ignored.
Note that when setting the maximum range, the actuator firmware will adjust the maximum
range such that it falls within a natural boundary of the firmware. For example, setting the range
to 280000 may actually be adjusted to 280063 by the firmware.
5.5.7 Current Position
This command enables the user to set the current position of the actuator (command 45). The
current position is an internal counter of the actuator that keeps track of the whereabouts of the
actuator. The current position counter is automatically set to 0 when the device is homed. The
Current Position command is handy for resuming the previous position after turning off the
actuator without having to home the device.
Current Pos:
0045300 bit Y
Ok Y
Back Y
The display shows the current position retrieved from the actuator. Turning the rotary knob
changes the digit highlighted by the blinking cursor, while pressing the button next to the number
advances the cursor to the next digit. Pressing “Ok” sets the new current position of the selected
actuator, while “Back” cancels the operation without changing the current position.
The current position of the actuator may not exceed the maximum range setting of the actuator.
Attempts to set the current position of the actuator beyond the maximum range will be ignored
by the actuator.
Copyright © Zaber Technologies Inc. Page 18 of 22

5.5.8 Run Current
This command sets the running current on T-CD series chopper drivers. This command is not
valid for all T-series products. Please see the user’s manual for T-CD series chopper driver for
more detail on how to set the running current.
5.5.9 Hold Current
This command sets the hold current on T-CD series chopper drivers. This command is not valid
for all T-series products. Please see the user’s manual for T-CD series chopper driver for more
detail on how to set the hold current.
5.5.10 Micro Step
This command sets the number of microsteps per step for the motor. This command is not valid
for all T-series products. Please see the user’s manual for more detail on the micro step function.
5.6 Device Info
Device Info is a sub-menu that allows the user to retrieve information about the selected device.
1-Device ID Y
2-Version Y
3-Voltage Y
Back Y
When in the Device Info sub-menu, pressing the “Back” key returns to the previous Actuator
Menu, and pressing the rotary knob escapes back to the main control screen.
5.6.1 Device ID
The Device ID command retrieves the ID of the currently selected actuator.
Device ID:
28
Back Y
Pressing the “Back” key returns to the previous Device Info menu, and pressing the rotary knob
escapes back to the main control screen.
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