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Summary of Contents for Zaber T-JOY Series
- Page 1 T-JOY Product User's Manual Firmware 5.00 and up Last Update: December 10 2015 Visit www.zaber.com/wiki for more recent updates. Zaber Technologies Inc. #2 - 605 West Kent Ave. N. Vancouver, British Columbia Canada, V6P 6T7...
- Page 2 Table of Contents Disclaimer................................1 Specifications..............................2 Compatibility............................2 Firmware Version Information........................3 Precautions.................................4 Initial Setup and Testing...........................5 Installation................................6 Control Through The RS-232 Serial Port.......................9 Examples: ..............................9 Quick Command Reference..........................11 Detailed Command Reference........................12 Reset - Cmd 0............................12 Special Note...........................12 Renumber - Cmd 2..........................12 Set Active Axis - Cmd 25........................13 Set Axis Device Number - Cmd 26......................14 Set Axis Inversion - Cmd 27 .........................16...
- Page 3 Table of Contents Troubleshooting T-JOY Devices........................33 Warranty and Repair............................35 Standard products ..........................35 Custom products...........................35 How to return products.........................35 Email Updates..............................36 Contact Information............................37 Appendix A: Default Settings.........................38 Appendix B: Device Specifications.........................39 Comparison - T-JOY Series........................40...
- Page 4 Disclaimer Zaber’s devices are not intended for use in any critical medical, aviation, or military applications or situations where a product's use or failure could cause personal injury, death, or damage to property. Zaber disclaims any and all liability for injury or other damages resulting from the use of our products.
- Page 5 Specifications The following specifications are specific to T-JOY devices Current Draw: 50 mA Joystick Controllable Axes: 3 User Configurable Buttons: 5 Visual Feedback: Power LED (green) and Com LED (yellow) Dimensions: 200 x 122 x 102 mm (L x W x H) Weight: 350g Compatibility...
- Page 6 100% compatible with older versions. For more information on firmware versions, please check the support section of Zaber’s website where user’s manuals for all versions of firmware are posted for download. To determine which version of firmware your device is running issue command #51.
- Page 7 Precautions Zaber devices are precision instruments and must be handled with care. Avoid using excessive force or rapid motion when manipulating the joystick or buttons. Do not force the connectors; when properly aligned, only a gentle force should be needed to achieve connection.
- Page 8 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 9 We recommend installing the Zaber Console. To begin controlling your device using the Zaber Console, select the correct COM port from the drop down menu (top left), and then press the open button next to the drop down tab.
- Page 10 Home device 1 - Device:1, Cmd:1, Data:0 Note: Zaber motion devices must be homed before entering any other commands. Homing a device gives it a starting referencing point. Your device will not move through its maximum range without issuing this command first.
- Page 11 (all devices) (all devices) Go to stored position 2 Store current position 2 (all devices) (all devices) Note that by default, key #2 has no direct effect on connected devices but it can be used to trigger execution of a script on the computer. Installation...
- Page 12 Set Axis Velocity Profile (command #28): 0x00, 0x19, 0x02, 0x00, 0x00, 0x00 If you are using Zaber’s demo software, you will only see 3 entry fields: Device#, Command#, and Data. The Device# and Command# fields accept integer values while the value you enter into the Data field can be...
- Page 13 signed. The value in the data field is converted by the software to 4 separate bytes and then gets sent to the device. Most instructions cause the device to reply with a return code. It is also a group of 6 bytes. The first byte is the device #.
- Page 14 Quick Command Reference The following table offers a quick command reference for joystick products. For convenience, you may sort the table below by instruction name, command number, or reply number. Follow the links to view a detailed description of each instruction. Instruction Name Command# Command Data...
- Page 15 Detailed Command Reference Reset - Cmd 0 Instruction Name Reset Applies to All Zaber devices Firmware Version 5.00 and up Command Number Command Command Type Command Data Ignored Reply Data None Safe to retry? Returns Current Position? No Persistence Summary Sets the device to its power-up condition.
- Page 16 Note: Renumbering takes about 1/2 a second during which time the computer must not send any further data. The device number is stored in non-volatile memory so you can renumber once and not worry about issuing the renumber instruction again after each power-up. Set Active Axis - Cmd 25 Instruction Name Set Active Axis...
- Page 17 T-Joy Axes The three axes on the joystick are defined as follows: Axis # Positive Direction Negative Direction Axis 1 right left Axis 2 up down Axis 3 clockwise counter-clockwise Example: To set the maximum velocity of axis number 2 follow the steps below: •...
- Page 18 Summary Sets the device number to be controlled using the active axis. Note: This setting affects only the active axis. See the Set Active Axis Command #25 for instruction on how to select an axis. Valid command data values for setting an axis device number range between 0 and 254. Once a axis device number is set, the setting is stored in non-volatile memory and will persist after power-down or reset.
- Page 19 • Device:1 Cmd:26 Data:4 - Set active axis (#2) to control device #4. • Device:1 Cmd:27 Data:-1 - Set active axis (#2) to be inverted (positive and negative directions switch). • Device:1 Cmd:25 Data:3 - Set Axis # 3 to be the active axis. •...
- Page 20 • On axis 2, down is negative and up is positive. • On axis 3, counter-clockwise is negative and clockwise is positive. What constitutes positive or negative motion depends on the device; see the user’s manual for the device in question.
- Page 21 The maximum velocity is set by the Set Axis Velocity Scale (#29) command. Squared and cubed curves offer finer control at slow speeds, but still allow maximum velocity when the joystick is fully deflected. Set Axis Velocity Scale - Cmd 29 Instruction Name Set Axis Velocity Scale Applies to...
- Page 22 Returns Current Position? Persistence Non-Volatile Loads the next instruction as the event-triggered instruction specified in the Summary Command Data. When pressing and releasing a key (button on the T-JOY), there are a series of events that take place depending on how long the key is held. If the key is pressed and released before 1 second, the event sequence is 1-2.
- Page 23 If you are using message ids we recommend that you disable them when programming the joystick. That way the programmed instructions will work whether the target device has message ids enabled or not. To program an instruction to a key event please follow these steps: 1.
- Page 24 or perform the command you want it to do. If you do not do this pressing a key could cause a device or joystick to do something unexpected. A list of the default settings can be found on the T-JOY installation page.
- Page 25 This command makes the axis active so that its device number can be changed. It is loaded to event number 1 so that the axis will become active as soon as the key is pressed. Load Event This command prepares the joystick so that key #5 at event #2 can Instruction be programmed.
- Page 26 Set Calibration Mode - Cmd 33 Instruction Name Set Calibration Mode Applies to T-JOY 5.04 and up Firmware Version Command Number Command Type Setting Command Data Calibration Mode Reply Data Calibration Mode Safe to retry? Returns Current Position? No Persistence Calibrates the joystick by adjusting the limits and the deadbands.
- Page 27 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. To calibrate the limits, follow these steps: •...
- Page 28 Set Device Mode - Cmd 40 Instruction Name Set Device Mode Applies to T-JOY 5.xx since 5.04 Firmware Version Command Number Command Type Setting Command Data Mode Reply Data Mode Safe to retry? Returns Current Position? No Persistence Non-Volatile Sets the Mode for the given device. Summary This command allows setting several options.
- Page 29 32,768 Disable Serial LED A value of 1 turns off the yellow serial LED. Set Alias Number - Cmd 48 Set Alias Number Instruction Name Applies to All Zaber devices Firmware Version 5.00 and up Command Number Command Type Setting...
- Page 30 Settings can also be unlocked by setting the Lock State to 0. Return Device Id - Cmd 50 Instruction Name Return Device Id Applies to All Zaber devices Firmware Version 5.00 and up Set Lock State - Cmd 49...
- Page 31 Returns Current Position? No Persistence Returns the id number for the type of device connected. Summary See the Zaber support web site for a table of device ids for all Zaber products. Return Firmware Version - Cmd 51 Instruction Name Return Firmware Version...
- Page 32 Return Setting - Cmd 53 Instruction Name Return Setting Applies to All Zaber devices 5.00 and up Firmware Version Command Number Command Type Command Command Data Setting Number Reply Data Setting Value Safe to retry? Returns Current Position? No Persistence Returns the current value of the setting specified in the Command Data.
- Page 33 Special Note 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 34 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 (such as when the user turns the potentiometer) 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.
- Page 35 Return Event Return Event-Triggered Instruction - Data out of range. See command #31 and #30 Invalid for valid range. Calibration Mode Must be 0, 1, or 2. Invalid Peripheral Id Restore Settings - peripheral id is invalid. Please use one of the peripheral ids listed Invalid in the user manual, or 0 for default.
- Page 36 Troubleshooting T-JOY Devices Symptom Check Green LED does not come Check the A/C wall plug, the 12V adapter and its connection to the device. If the power is coming over the data cable, check the mini din connector for bent or broken pins.
- Page 37 - Verify that each device in the daisy chain works individually. - Plug all the devices in a daisy-chain with the joystick being the first device next to the computer, and issue a renumber instruction. - Verify again that the computer can communicate with each device independently.
- Page 38 Standard products are any part numbers that do not contain the suffix ENG followed by a 4 digit number. Most, but not all, standard products are listed for sale on our website. All standard Zaber products are backed by a one-month satisfaction guarantee. If you are not satisfied with your purchase, we will refund your payment minus any shipping charges.
- Page 39 Email Updates If you would like to receive our periodic email newsletter including product updates and promotions, please sign up online at www.zaber.com (news section). Newsletters typically include a promotional offer worth at least $100. Email Updates...
- Page 40 Contact Information Contact Zaber Technologies Inc by any of the following methods: Phone 1-604-569-3780 (direct) 1-888-276-8033 (toll free in North America) Fax 1-604-648-8033 Mail #2 - 605 West Kent Ave. N., Vancouver, British Columbia, Canada, V6P 6T7 Web www.zaber.com Email Please visit our website for up to date email contact information.
- Page 41 Appendix A: Default Settings Please see the Zaber Support Page for default settings for this device. Appendix A: Default Settings...
- Page 42 Appendix B: Device Specifications For complete device specifications for T-JOY actuators please see our website. Appendix B: Device Specifications...
- Page 43 50 mA Power Supply 12-16 VDC Power Plug 2.1mm center postive Data Cable Connection Minidin 6 M/F Buttons Axes of Motion LED Indicators RoHS Compliant CE Compliant Comparison - T-JOY Series Part Number Weight T-JOY3 0.35 kg Comparison - T-JOY Series...
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