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

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

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.

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.

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.

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.

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.

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.

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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