Navitar Motorized Zoom Systems Instruction Manual for Windows
NAVITAR
MOTORIZED ZOOM SYSTEMS
INSTRUCTION MANUAL FOR WINDOWS
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Navitar Motorized Zoom Systems Instruction Manual for Windows
Navitar Motorized Zoom Lenses
Generic Schematic
Computer
(Digital) Firewire
(Digital) Frame Grabber Frame Grabber
Com 1,2 USB 1,2,3
(Analog)
Camera Serial USB
Communication Communication
Zoom
Focus
Monitor
(Digital)
Monitor
(Analog)
Navitar
Motor
Controller
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Navitar Motorized Zoom Systems Instruction Manual for Windows
User's Guide
Demonstration
Windows
Application
Serial and USB Connection
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Navitar Motorized Zoom Systems Instruction Manual for Windows
Table of Contents
1 Introduction..................................................................................................5
2 Setting Up - Serial Port................................................................................5
3 Setting Up - USB Port..................................................................................5
4 Installation....................................................................................................5
5 Turning The Controller On..........................................................................6
6 Starting the Application ..............................................................................6
7 Establishing Communications....................................................................7
8 Pull Down Menus.........................................................................................8
8.1 File Pull Down Menu - Open...................................................................8
8.2 File Pull Down Menu - Save..................................................................10
8.3 File Pull Down Menu - Save As ............................................................10
8.4 File Pull Down Menu - Exit....................................................................10
8.5 Mode Pull Down Menu - Connection ....................................................11
8.6 Mode Pull Down Menu - Customer.......................................................11
8.6.1 Customer Setup.............................................................................11
8.6.1.1 Customer Setup - Initial Velocity.............................................12
8.6.1.2 Customer Setup - Max Velocity..............................................13
8.6.1.3 Customer Setup – Acceleration..............................................13
8.6.1.4 Repeatability / Backlash Elimination.......................................13
8.6.1.5 Customer Setup - Reverse Backlash......................................14
8.6.1.6 Customer Setup - Forward Backlash......................................14
8.6.1.7 Customer Setup - Zero...........................................................14
8.6.1.8 Customer Setup - Down Through Home ................................15
8.6.1.9 Customer Setup – Disable Axis 2...........................................15
8.6.1.10 Customer Setup - Cancel.......................................................15
8.6.1.11 Customer Setup - OK.............................................................15
8.7 Help Pull Down Menu - Help.................................................................15
8.8 Help Pull Down Menu - About...............................................................15
9 Par-focalizing the Zoom System...............................................................16
10 STOP Button...............................................................................................17
11 Axis Specific Controls and Indicators .....................................................17
12 Motor Position Control..............................................................................17
13 Motor Position Indicator............................................................................17
14 Limit Indicator / Button..............................................................................18
15 Home Indicator / Button ............................................................................18
16 Axis Count Window ...................................................................................18
17 Jog Button, Jog Minimum, Jog Maximum Value Windows....................18
17.1 Jog Minimum Value..............................................................................19
17.2 Jog Maximum Value.............................................................................19
18 Current Location Window .........................................................................19
19 Customer Presets......................................................................................19
19.1 Preset Activate Button ..........................................................................19
19.2 Preset Auto Run Check Box.................................................................19
19.3 Preset Save Button...............................................................................20
20 Dwell Time Entry Window .........................................................................20
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1 Introduction/Precautions
This controller/driver application allows the user to configure and control a 1 or 2
motor zoom/focus system complete with limit sensors. The system may be
connected via serial or USB communication; however, both methods shall not be
connected simultaneously. Additionally, the zoom/focus motor cables shall never
be connected or disconnected while the controller is under power. This will cause
damage to the controller!
2 Setting Up - Serial Port
Connect the controller to the serial port on the PC (9 pin serial cable). Note the
COM number. On most PCs with only one serial port, the port is COM1. Some
older PCs have multiple COM ports. Usually these ports are labeled.
Connect the power pack to AC wall outlet and to the controller.
Connect both the zoom and focus (where applicable) 15 pin cables to the
controller.
3 Setting Up - USB Port
Connect the USB cable between the PC and the controller.
Connect the power pack to AC wall outlet and to the controller
Connect both the zoom and focus (where applicable) 15 pin cables to the
controller.
4 Installation
Windows:
Locate the following file and open by double-clicking.
Following the steps will produce the following icon on the desktop.
Navser.lnk
USB:
Locate the following file and open by double clicking.
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Following the steps will produce this icon on the desktop.
Shortcut to navusb.exe.lnk
5 Turning The Controller On
Turn on the power switch located on the back of the controller. The controller will
activate both motors. Both motors will drive to their home position, reverse
direction, drive to the limit position, reverse and return to the home position and
stop.
6 Starting the Application
Before starting the motorized application, turn on any illumination system, start
the camera system, and place a subject at the focus of the optical system and
obtain a rough focus. Start the application by double-clicking the desktop icon
created in 4, above.
The program will start and present the following control panel.
Click on “Mode” in the toolbar, then “customer”.
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This will present a customer setup table similar to the following. Values must be
entered before the program will perform. Further explanation of each parameter
and suggested initial values may be located in section 8.6.
7 Establishing Communications
On the control panel is an "On Line" indicator. This indicator will turn green when
communications between the controller and PC are established. The
communications should be established automatically. If the system is not able to
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establish the communications, the PC's bell will sound indicating communications
failure and the indicator will remain blank.
To establish communication manually, click the “Mode” pull down menu and
select “connection”. A small dialog box opens:
Open the list of possible COM ports or USB devices by clicking the down arrow
next to list. Select the correct communications port from the list by clicking it and
confirm the selection by clicking the OK button.
The Off line selection is used for parameter set up and testing. The computer will
not attempt to establish the communications connection with the controller. The
user can change all parameters, but the controller will not operate until
communications is established.
If the communications is not established after the correct port is selected, check
the following:
?? Power to the controller is turned on.
?? Cable is connected to both devices.
?? Correct cable is being used. The ‘Null’ modem cable will not function.
?? Serial port is enabled within the PC environment.
?? Consult with your system administrator to get help establishing
communications.
To go “off-line” again, select “connection” from the “Mode” line and click off-line in
the selections.
8 Pull Down Menus
8.1 File Pull Down Menu - Open
The File pull down menu is used to load or save different set-ups of the control
panel. This feature is used to save and reload a particular configuration of
motions. The values saved and reloaded are the set points; minimum and
maximum jog values and the dwell time. Values for both motors are saved and
reloaded. Note that this feature does not save the values entered in the
customer set-up chart such as acceleration curves, velocity, etc. These must be
re-entered depending upon the application.
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Selecting the Open item from the file pull down menu activates the standard
Windows Open dialog box:
The user locates the desired configuration file and confirms selection by clicking
the Open button. The configuration values are automatically loaded into the
control panel.
Note that there are no standard configurations installed by the initial program
installation. The user must first save some configurations using the Save or
Save As items from the File pull down menu.
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8.2 File Pull Down Menu - Save
Selecting the Save item from the file pull down menu saves the current motion
configuration in the current configuration file. This function is used if a
configuration has been loaded using the Open command, changed and now the
user wants to save it for future use. Please note that the content of the
configuration file will reflect the values in the control panel at the time of the Save
operation. Old control values are lost.
8.3 File Pull Down Menu - Save As
Selecting the Save As item from the file pull down menu activates the standard
Windows Save As dialog box:
The user locates and names the new configuration file and confirms the selection
by clicking the Save button. This function is used if a new configuration has been
created and the user wants to save it under a new name, without losing any of
the other previous configurations.
8.4 File Pull Down Menu - Exit
Selecting the exit item from the File pull down menu will terminate the program.
Any changed configurations are lost. If the user wants to save any configuration
changes, the Save or Save As items from the file pull down menu should be
used.
The program can also be terminated by clicking the Close square in the upper
right corner of the control panel window.
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8.5 Mode Pull Down Menu - Connection
This menu item is used to select the desired communications port.
The list of available ports is presented by clicking the black down arrow next to
COM1. Selection is accomplished by clicking on the desired COM port. For
serial communications the list will always contain COM1 through COM4 and OffLine selections. For USB devices, the list will contain only the available motor
controllers and the Off-Line setting. If there is only one controller connected to
the PC via USB, the list will show only one USB device.
Note that the COM port selected must match the COM port hardware used to
connect to the controller. Off line selection is used for parameter configuration
and saving.
The selection is confirmed by clicking the OK button.
8.6 Mode Pull Down Menu - Customer
Selecting Customer from the Mode pull down menu activates the Customer
Setup dialog box.
8.6.1 Customer Setup
This dialog box is used to configure the system parameters associated with this
specific motor controller system.
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This configuration is stored within the controller's non-volatile memory and is
reloaded into the controller automatically when the controller power is turned on.
This configuration should only be edited with the controller connected and the
communications established, otherwise any changes will be lost. Distinct values
exist for each axis. The details below pertain to each axis equally.
8.6.1.1 Customer Setup - Initial Velocity
This value specifies the initial velocity, in steps per seconds, of the motor at start
up. From this value the motor will ramp to maximum velocity depending on the
Accel value. Generally, the heavier the load on the motor, the lower the initial
velocity value should be. If the initial velocity is set to high, the motor will not
start reliably and may stall during start up. In this case, lower the initial velocity.
If the initial velocity is set too low, the motor will take longer to reach its
destination.
2ø 200 100
5ø 400 400
DC Encoded N/A N/A
Recommended Initial Values
AXIS 1 AXIS 2
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8.6.1.2 Customer Setup - Max Velocity
This value specifies the maximum velocity, in steps per seconds, which the motor
may attain after ramp-up in accordance with the desired acceleration curve.
2ø 8000 2000
5ø 2000 6000
DC Encoded N/A N/A
Recommended Initial Values
AXIS 1 AXIS 2
8.6.1.3 Customer Setup – Acceleration
This value relates to the time it takes to go from the initial velocity to the
maximum velocity (ramp up). Generally, the heavier the load on the motor, the
smaller the number should be. If the acceleration is set too high, the motor may
stall during the acceleration. If the number is too low, the motor will take longer
to reach its destination.
2ø 10 10
5ø 10 10
DC Encoded N/A N/A
Recommended Initial Values
AXIS 1 AXIS 2
8.6.1.4 Repeatability / Backlash Elimination
Most geared systems have “backlash”, (the inability of output to instantaneously
track input). The motorized zoom picks up play from the motor’s internal gearing,
zoom drive gears, and cam clearances. There are means (expensive) of
reducing (but not totally eliminating) this.
To be able to repeat a zoom setting accurately, Navitar software contains an
option that forces all motion to work against gravity, thereby effectively
eliminating the backlash. (There is no other positive means to guarantee
repeatability in this kind of a system). With this option, any time the command is
to travel to a lower zoom setting, the zoom goes back to the home position,
resets to 0, and then approaches the end point traveling up against gravity.
The above requires that the “zero” be set at “near” (bottom of the zoom travel),
and that the “down thru home” button be activated. Also, due to “coasting”, a
position reached in one step will differ from that reached in multiple upward steps
totaling the same number.
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In the following procedures, “near” is the bottom of travel and “far” is the upper
end. “Forward” motion is from “near to far” (bottom to top) and reverse is the
opposite.
Environmental conditions (temperature) will have a small impact on position
sensitivity, therefore the systems should be stabilized and in a controlled
environment for absolute repeatability.
After a “count to position” is established, the motor Accel and velocity settings
should stay constant, as they determine mechanical position performance.
8.6.1.5 Customer Setup - Reverse Backlash
This value specifies the number of steps the motor will overshoot the destination
count before turning around and returning to the final value, in the reverse
direction. This feature is designed to remove any mechanism backlash when
motors are switching from reverse to forward direction. If the user is not
concerned about backlash removal in the reverse direction, set the value to zero.
If the mechanism has large mechanical tolerances, increase the backlash value.
A larger value will result in slower operation because the motor has to overshoot
the destination by the specified number of steps and then return back to the final
target value. (Note: Assuming “0” has been set to “near”, this method is an
improvement, but not as accurate as returning to home).
8.6.1.6 Customer Setup - Forward Backlash
This value specifies the number of steps the motor will overshoot the destination
count before turning around and returning to the final value, in the forward
direction. This feature is designed to remove any mechanism backlash when
motors are switching from forward to reverse direction. If the user is not
concerned about backlash removal in the forward direction, set the value to zero.
If the mechanism has large mechanical tolerances, increase the backlash value.
A larger value will result in slower operation because the motor has to overshoot
the destination by the specified number of steps and then return back to the final
target value. (Note: Assuming “0” has been set to “near”, this is the least
accurate of all, and should not be used in any kind of a Metrology Application).
8.6.1.7 Customer Setup - Zero
The mechanism has two sensors ‘Home’ and ‘Limit’. The zero-configuration
specifies which end of the travel is to be considered the ‘Home’ position, near or
far. The selection is made by operation of two radio buttons. If the ‘Near’ setting
is selected, the mechanism will move to the near end of the travel and consider
this the ‘Home’ location and count of 0. If the ‘Far’ setting is selected, the
mechanism will move to the far end of the travel and consider this the ‘Home’
location and count of 0.
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Note that the motor rotation direction will also change based on the Far/Near
selection. The forward direction is always the direction from home to limit. But
the home and limit ends of the travel can be swapped using the Zero Near/Far
setting. The reverse direction is from limit to home. The Far/Near selection also
has to be considered when configuring the backlash values.
8.6.1.8 Customer Setup - Down Through Home
This selection allows the user to force the motor to travel through the ‘Home’
position whenever moving in the reverse direction. If the check box is checked,
and the motor is commanded to move to a position with a lower count than the
current position, the motor will move all the way to ‘Home’, or zero count, reverse
direction and return in the forward direction to the desired target count. This
feature acts to reset the absolute position count and remove any potential
backlash.
8.6.1.9 Customer Setup – Disable Axis 2
Selecting this box will disable Axis 2. Axis 2 will be labeled ‘Disabled’ on the main
control panel. When working with a single-axis system, this box should be
selected.
8.6.1.10 Customer Setup - Cancel
Clicking this button will close the Customer Setup dialog box and no changes will
be made to the setup within the controller.
8.6.1.11 Customer Setup - OK
Clicking this button will close the Customer Setup dialog box and the changes
will be saved in a non-volatile memory within the controller.
8.7 Help Pull Down Menu - Help
The Help for the controller operation is presented.
8.8 Help Pull Down Menu - About
This box presents information about the PC software version (Version), hardware
version (HW), firmware version (SW), and the date of manufacture of the
controller. These values have been stored within the controller at the time of
manufacture and cannot be changed by the user. Click the OK button to close
the window.
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9 Par-focalizing the Zoom System.
All Navitar Zoom Systems are designed to be parfocal (maintain focus as they
change magnification), but they must be setup in a prescribed manner.
The rule of thumb is “set the front conjugate (distance from lens to object) at high
mag, and the rear conjugate (distance from lens to image plane) at low mag.”
Note: If an integral focus is present on the zoom lens, set if halfway between
extremes of travel.
1. Zoom to the highest magnification.
2. Adjust the stand, or other support, to provide a rough focus, and then fine tune
it with the integral focus, if present.
3. Zoom to the lowest magnification.
4. Without disturbing any adjustments made in #2, adjust the upper adapter to
produce best focus at the image plane.
The system should now zoom between extremes without losing focus.
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10 STOP Button
Click the STOP button to immediately halt both motors. This function is useful
during startup debugging if the motor directions are not defined properly - see
Customer Setup - Zero above. If the user has setup an Autorun operation,
clicking the STOP button will clear all Autorun check boxes.
11 Axis Specific Controls and Indicators
The control panel contains two identical sections for each axis. The following
discussion applies to either axis.
12 Motor Position Control
Along the left edge of the control panel is the Motor Position Control. This
column controls the current position of the motor relative to the home and limit
sensors.
The user can quickly position the motor at an approximate position along its
travel path. There are several ways to accomplish this.
Clicking at a specific position within the column will cause the motor to advance
to that position.
Dragging the slider to a specific location within the column will cause the motor to
advance to that position.
By clicking the arrow buttons at the top and bottom of the column will cause the
motor to move in the indicated direction in discrete steps.
13 Motor Position Indicator
Just to the right of the Motor Position control column is the Motor Position
Indicator column. This column indicates, in blue column, the current position of
the motor between the home and limit ends of the travel.
If the motor is at home, the column is cleared. If the motor is at the limit end of
travel, the column is solid blue.
The controller, at start up, will drive the motor to home, to limit and back to home,
to determine the total distance available. (It assumes that home is “near” and
“down thru home” has been activated. The column height indicates the relative
position of the motor along the path.
The Position Indicator indicates the actual motor position. Using the Position
Control, the motor may be commanded to move to any location along its travel.
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The Position Command location is immediate, while the Position Indicator will
track the actual position of the motor.
14 Limit Indicator / Button
Directly above the Motor Position Indicator is the Limit Indicator / Button.
Clicking this button will cause the motor to drive to the limit sensor and stop
there. When the motor is at the limit, the indicator will light red. If the motor is
commanded to advance past the limit count, the motor will drive to the limit, stop,
and the indicator will remain lit.
15 Home Indicator / Button
Directly below the Motor Position Indicator is the Home Indicator / Button.
Clicking this button will cause the motor to drive to the home sensor and stop
there.
The motor operation at the home end of travel is slightly different from the limit
end. The motor will drive the magnet field into the sensitive area of the home
sensor, and then reverse direction, and advance slowly until the magnet no
longer impacts the sensor. The motor will stop at this point, calling it the
reference home zero position. Because of this homing action, the home indicator
will light up only briefly, while the magnetic field is within the sensor area. When
the motor is stopped at the home position, the indicator will not be lit.
16 Axis Count Window
Just to the right of the Limit Indicator / Button is the Axis Count Window. This
window presents to the user the maximum number of steps between the home
and limit ends of the travel. This value is determined at start up when the
controller drives the motor to home, limit, and back to home. This value is used
as a guide when setting up the individual way-points.
Note that this value may vary slightly in day-to-day operation. The differences of
one or two counts are due to sensor detection accuracy depending on the
maximum speed of the motor, the load on the motor, and environmental
considerations.
17 Jog Button, Jog Minimum, Jog Maximum Value Windows
Directly below the Axis Count Window are two Jog Buttons, Jog Up and Jog
Down. These buttons are used to command the motor to take a certain number
of steps in the desired direction. In connection with the minimum and maximum
values, the user can quickly and accurately position the motor at a desired count
using just a few clicks.
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17.1 Jog Minimum Value
This numerical value controls the number of steps the motor will take in the
desired direction if the Jog button is clicked once. To change the value, highlight
the current value, type in the new desired value and press the Enter key.
17.2 Jog Maximum Value
This numerical value controls the number of steps the motor will take in the
desired direction if the Jog button is held down. To change the value, highlight
the current value, type in the new desired value and press the Enter key.
18 Current Location Window
This information only window presents the user with the current motor step
position. At home, this value should be 0 and at limit this value should be close
to the axis count value.
19 Customer Presets
Directly below the Current Location Window are the presets controls. Each
motor is provided with four customer programmable presets that permit returning
to the preset position.
Preset Value Window
This numerical entry window is used to set the count value for the specific preset.
The current window value is highlighted and new value is entered followed by the
Enter key. The preset values should be between 0 and the Maximum Axis count.
19.1 Preset Activate Button
Clicking on these buttons, numbered 1 thru 4, will cause the motor to advance to
the count specified in the respective Preset Value Window. (Note: For absolute
precision in returning, the system should start directly from the “near” home
position).
19.2 Preset Auto Run Check Box
The Autorun Check Box is used to cause the system to automatically advance
between presets. Checking only one Autorun box will have no effect. Checking
two or more Autorun boxes will cause the system to automatically step between
the checked presets according to the preset number (not the count value). This
feature allows the user to setup a sequence of four positions along the travel
path and the system will move between these positions automatically and
continuously. If the “down thru home” is activated, the system will return to home
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upon sensing a downward motion command and then approach the desired
preset. The Autorun operation is halted by clearing the Autorun checkboxes or by
clicking the STOP button, which will stop the motors and clear all Autorun check
boxes automatically.
19.3 Preset Save Button
The Way Point Save button is used to load the current motor step position count
value into the preset window. The user positions the motor at some desired
location, most likely using the Jog buttons and by pressing the Save button, the
position value is automatically loaded into the preset window.
20 Dwell Time Entry Window
The Dwell Time entry window is used to set the time the system pauses at each
of the selected presets during the Autorun operation. The value entered is in
seconds. If the value is 0 during the Autorun operation, as soon as one preset is
reached, the motor will immediately continue onto the next position. The dwell
time setting is common to all presets.
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RS-232 Communication Protocol
Serial data streams.
Data to the 2 Axis Motor controller serial device:
Serial port configuration:
38400 baud
8 bits
no parity
1 stop bit
no flow control
7 bytes are written to the device. The first is a register id. The next
four are the contents of a 32 bit register value
Byte 1: 0xff. This is a start of data stream flag.
Byte 2: register id. Bit 7 is set to 1 for a write. Bit 7 is set to
0 for a read.
Byte 3: low byte of 4 byte register. Set to 0 for a read.
Byte 4: second byte of 4 byte register. Set to 0 for a read.
Byte 5: third byte of 4 byte register. Set to 0 for a read.
Byte 6: high byte of 4 byte register. Set to 0 for a read.
Byte 7: A checksum byte such that the 7 bytes sum to 0 (mod 256).
The reply:
7 are read from the device.
Byte 1: 0xff. This is a start of data stream flag.
Byte 2: register id. Bit 7 will be set to 0.
Byte 3: low byte of 4 byte register
Byte 4: second byte of 4 byte register
Byte 5: third byte of 4 byte register
Byte 6: high byte of 4 byte register
Byte 7: A checksum byte such that the 7 bytes sum to 0 (mod 256).
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Register Definitions:
These system registers are intended to be read only.
Writes to these registers will not survive a power reset.
REG_SYS_PRODUCTID 0x01 read only -> returns 0x4001
REG_SYS_VERSIONHW 0x02 read only
REG_SYS_VERSIONDATE 0x03 read only
REG_SYS_VERSIONSW 0x04 read only
These system registers are intended to be system setup registers.
Changing these may result in a system that does not perform properly.
REG_SETUP_ACCEL_1 0x15 sets motor 1 acceleration
REG_SETUP_ACCEL_2 0x25 sets motor 2 acceleration
REG_SETUP_INITVELOCITY_1 0x16 sets initial motor 1 velocity
REG_SETUP_INITVELOCITY_2 0x26 sets initial motor 2 velocity
REG_SETUP_MAXVELOCITY_1 0x17 sets maximum motor 1 velocity
REG_SETUP_MAXVELOCITY_2 0x27 sets maximum motor 2 velocity
REG_SETUP_REVBACKLASH_1 0x18 sets motor 1 reverse backlash value
REG_SETUP_REVBACKLASH_2 0x28 sets motor 2 reverse backlash value
REG_SETUP_FWDBACKLASH_1 0x19 sets motor 1 forward backlash value
REG_SETUP_FWDBACKLASH_2 0x29 sets motor 2 forward backlash value
REG_SETUP_CONFIG_1 0x1B sets motor 1 sensor configuration
REG_SETUP_CONFIG_2 0x2B sets motor 2 sensor configuration
Bit 0: 0 – near sensor is home
1 – far sensor is home
Bit 1: 0 – reverse seek direct
1 – reverse seek thru home
REG_SETUP_LIMIT_1 0x1C returns motor 1 limit value
REG_SETUP_LIMIT_2 0x2C returns motor 2 limit value
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These user registers are intended for normal operation
REG_USER_TARGET_1 0x10 motor 1 seek command
REG_USER_TARGET_2 0x20 motor 2 seek command
REG_USER_INCREMENT_1 0x11 motor 1 delta seek from current
REG_USER_INCREMENT_2 0x21 motor 2 delta seek from current
REG_USER_CURRENT_1 0x12 motor 1 current position
REG_USER_CURRENT_2 0x22 motor 2 current position
REG_USER_LIMIT_1 0x13 motor 1 limit seek command
REG_USER_LIMIT_2 0x23 motor 2 limit seek command
The value written drives the motor to one of the limits:
0 – home motor
1 – limit motor
REG_USER_STATUS_1 0x14
REG_USER_STATUS_2 0x24
Lower 8 bits (Bit 0 thru 7).
0 – idle
1 – driving to home
2 – coming off home
3 – driving to limit
4 – seeking forward
5 – deaccel in forward direction
6 – forward backlash (i.e. rev after overshoot)
7 – seeking reverse
8 – deaccel in reverse direction
9 – reverse backlash (i.e. forward after overshoot)
11- forward deaccel during an abort
12- reverse deaccel during an abort
Bit 8 – motor on home sensor
Bit 9 – motor on limit sensor
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