Table of Contents
Troubleshooting
Summary of Contents for Zaber T-JOY
- Page 1 T-JOY Joystick User’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...
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Page 2: Table Of Contents
Copyright © Zaber Technologies Inc. ZABER T-SERIES PRODUCTS....................... 3 ......................4 ERIES PECIFICATIONS T-JOY S ....................... 4 PECIFICATIONS FIRMWARE VERSION INFORMATION..................4 CAUTION............................4 INITIAL SETUP AND TESTING..................... 5 INSTALLATION..........................6 CONTROL THROUGH THE RS-232 PORT.................. 7 COMMAND QUICK REFERENCE ....................8 DETAILED COMMAND REFERENCE .................. -
Page 3: Zaber T-Series Products
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 visit http://www.zaber.com. Page 3 of 32... -
Page 4: T-Series Specifications
To Saved Position. These instructions are particularly 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. -
Page 5: Initial Setup And Testing
4 INITIAL SETUP AND TESTING When you first receive your T-JOY, you may wish to perform a few simple steps to familiarize yourself with its operation. First you will need a power supply. If you did not order one with your device, you will require a power supply with output voltage between 10 and 16V DC. -
Page 6: Installation
Copyright © Zaber Technologies Inc. 5 INSTALLATION During normal operation, the T-JOY joystick does not need to be connected to a computer, however, it must be connected to a computer initially in order to change it’s settings (for example to change button functions from the defaults or to change what additional devices will be controlled by each axis of the joystick). -
Page 7: Control Through The Rs-232 Port
Your communications settings must be: 9600 baud, no hand shaking, 8 data bits, no parity, one stop bit. The amber LED will light when there is activity on the RS232 lines. When the yellow LED on the T-JOY blinks it indicates either the computer has sent an instruction, or the T-JOY has sent an instruction (due to movement of the joystick or the buttons). -
Page 8: Command Quick Reference
Copyright © Zaber Technologies Inc. 7 COMMAND QUICK REFERENCE The command quick references below provides a list of available T-JOY commands at a glance. A Detailed description of each command is given in the following section. Note that a computer may also be used to control additional units in the daisy-chain. For a list of instructions applicable to other devices, please consult the appropriate user’s manual. - Page 9 Copyright © Zaber Technologies Inc. Command #40, “Set Mode” Options for the T-JOY: Data Bits Option Name Effect 0 (1s) Disable Auto-reply Disable ALL replies except to command 50 and higher. 1 (2s) Reserved This bit is reserved. Do not modify.
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Page 10: Detailed Command Reference
Copyright © Zaber Technologies Inc. 8 DETAILED COMMAND REFERENCE Note that these commands apply only to T-JOY series firmware versions 5.00 and up. To determine which version of firmware you have simply issue the “return firmware version” (command 51). Many of the commands described below will work with other firmware versions, however behavior may differ. -
Page 11: Set Active Axis (#25)
Copyright © Zaber Technologies Inc. Set Active Axis (#25) Firmware Version: Version 5.04 and up Command Number: Data Bytes: 1, 2, or 3 to select the corresponding axis to be the active axis Reply Data: Reply data is simply an echo of command data. -
Page 12: Set Axis Unit Number (#26)
Copyright © Zaber Technologies Inc. Set Axis Unit Number (#26) Firmware Version: Version 5.04 and up Command Number: Data Bytes: Byte 3 is the unit number. Valid numbers are between 0 and 254. Reply Data: Reply data is simply an echo of the command data. -
Page 13: Set Axis Inversion (#27)
Copyright © Zaber Technologies Inc. Command #36, may be used to restore factory default settings. The factory default settings for axis control are as follows: Axis #1 controls Unit #2 Axis #2 controls Unit #3 Axis #3 controls Unit #4... -
Page 14: Set Axis Velocity Profile (#28)
Copyright © Zaber Technologies Inc. Set Axis Velocity Profile (#28) Firmware Version: Version 5.04 and up Command Number: Data Bytes: 1 to use linear profile 2 to use squared profile 3 to use cubed profile 0 to toggle through the different profiles Reply Data: 1, 2, or 3 depending on the current velocity profile. -
Page 15: Set Axis Velocity Scale (#29)
Copyright © Zaber Technologies Inc. Set Axis Velocity Scale (#29) Firmware Version: Version 5.04 and up Command Number: Data Bytes: Desired maximum velocity of the T-Series unit controlled by the active axis. If data is 0, then the active axis will be disabled. -
Page 16: Load Event-Triggered Instruction (#30)
If an event-triggered instruction is addressed to unit 0 (all units) or is addressed to the unit number of the T- JOY, then the T-JOY will execute the instruction itself. If the instruction is addressed to unit 255, then the T-JOY will neither send nor execute the instruction. - Page 17 Note that this next instruction will not be executed by the T-JOY, but will be stored for execution whenever the corresponding key event is detected. This instruction will also pass un-hindered to any units that may be downstream (away from the computer) from the T-JOY.
- Page 18 Store current position 2 (255, 255, 0) Having four different key events for each key makes the T-JOY very flexible. Here are a few examples. Example 1: Programming a single key to store and return to a position: Each key can be programmed to provide different functionality depending on how long the key is held down.
- Page 19 Copyright © Zaber Technologies Inc. Example 2: Programming two keys to control the motion of an additional unit: You can program two keys to control the motion of an additional unit. In the following sequence of commands, key 1 and key 2 are programmed to control unit 5, an additional unit beyond units 2, 3, and 4 which are controlled by joystick manipulation.
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Page 20: Return Event-Triggered Instruction (#31)
2. it will attempt to process the instruction itself. If the instruction is addressed to the unit number of the T-JOY, then none of the downstream units will respond to it. The T-JOY however will send an Echo Data reply (with the same data as the instruction) to the computer. -
Page 21: Calibrate Joystick (#33)
The T-JOY is pre-calibrated before shipping so that it should work well right out of the box. Note that restoring default settings using command #36 will have no affect on the joystick calibration. There is no default calibration since each joystick has slightly different properties that prevent a single set of settings from working well on all devices. -
Page 22: Restore / Lock / Unlock Settings (#36)
Copyright © Zaber Technologies Inc. The joystick should work well as calibrated. We do not recommend re-calibrating it unless you encounter problems such as motion occurring while the joystick is in the neutral position, or an inability to reach maximum velocity even with the joystick fully displaced. -
Page 23: Set Device Mode (#40)
1 to disable auto-replies. If you then send another Set Device Mode command with data of 16384 to disable the power LED, you will re-enable auto-replies since bit_0 in the 2 instruction is 0. The T-JOY has a default mode setting of 0 (all bits are 0). Bit_n Description... -
Page 24: Set Alias (#48)
Copyright © Zaber Technologies Inc. bit_6 Enable Logical Channels Mode A value of 1 enables the Logical Channels Mode. In this mode of communication, only bytes 3 thru 5 are used for data. Byte 6 is used as an ID byte that the user can set to any value they wish. -
Page 25: Return Device Id (#50)
Copyright © Zaber Technologies Inc. 8.14 Return Device ID (#50) Firmware Version: Version 5.00 and up Command Number: Data Bytes: Ignored Reply Data: Device ID This causes the unit to return an identification code indicating the type of device connected. See Appendix A for a table of Device IDs. -
Page 26: Echo Data (#55)
Copyright © Zaber Technologies Inc. 8.18 Echo Data (#55) Firmware Version: Version 5.04 and up Command Number: Data Bytes: Any arbitrary user-defined data Reply Data: The reply is simply an echo of the command. This causes the unit to echo back the same data that was sent. -
Page 27: Reply-Only Reference
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. -
Page 28: Error Codes
(byte 3 – 6) will contain the error code, which identifies the cause of the problem. The error code is typically the command number of the instruction that caused the error, but not always. The following is a table of all possible error codes for the T-JOY: Error Code Description Power supply voltage too low. -
Page 29: Troubleshooting
Copyright © Zaber Technologies Inc. Load Event-Triggered Instruction (#30) command for more details on disabling key events. 12 TROUBLESHOOTING 12.1 T-Series General Troubleshooting Tips Symptom Check Green LED does not come on Check the A/C wall plug, the 12V adapter and its connection to the device. -
Page 30: T-Joy Specific Troubleshooting Tips
0. Solution: re-enable the joystick axis by setting off. the velocity scale to a non-zero value. You may be in calibration mode. When the T-JOY is in calibration mode it does not send instructions to other units. Solution: turn off calibration, recalibrate, or power off/on. -
Page 31: Data Cable Pintout Diagram
Copyright © Zaber Technologies Inc. 13 DATA CABLE PINTOUT DIAGRAM The tables below show the pin-outs of communications connections on the device and on the serial adapter. Device Pin Configuration Female PS2 Pin-outs Male PS2 Pin-outs (Towards next unit) (Towards computer) -
Page 32: Warranty
14 WARRANTY All Zaber products are backed by a one-month satisfaction guarantee. If for any reason you are not satisfied with your purchase, send it back to Zaber Technologies Inc. within one month of the purchase date for a complete refund.