RPA Installation Manual
ManualOverview
Thismanualprovidesthenecessaryhardwareandsoftwareinstallationinstructionsrequiredto
assembletheRPAsubsystemandexerciseitsbasicfunctionality.
Contents
ThefollowingcomponentsareprovidedwitheachRPAsubsystem:
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 RPASensorHeadAssembly
 ControllerElectronicsPSB
 SystemInterfacecable
 RS232SerialInterfaceCable
 Powercable
 CD containingdocumentation,softwaredemonstrationGUI,andLabVIEWdrivers TheRPAandthesupportingcontrolelectronicsareamatedset.Thisisbecauseinformation
relativetotherelationshipoftheprismorientationtotheencoderreferencemark,aswellas
informationdescribingpointinganglesasafunctionofprismrelationship,iscontainedinmemory
residentonthecontrollerboard.TheRPAandelectronicsboardareclearlyidentifiedbyserial
numbers.
SystemOverview
Figure1showstherelationshipbetweenthemechanicalmountingfeaturesandthebeampointing
coordinateframe.
RPA System Coordinate Frame Mechanical Reference
Back of Unit
Front of Unit
3X Mounting Hole
Pin
Slot
2
2
1
Pin
1
Slot
3
Laser Input Side
Laser
direction

ALT

3

OpticAxis
1
2
3
Figure1–RPASystemCoordinateFrameRelationshiptoMechanicalMountingFeatures
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Mechanicalinterfacedrawingsareattachedtothebackofthismanual.Refertotheappropriate
drawingfortheRPAsystembeingintegrated.
SystemDescription
MechanicalInterfaceDrawing
RP‐25F
1‐1479‐2
RP‐25S
1‐1480‐2
RP‐50S/F
1‐1462‐3
RP‐100
1‐1603‐2
RP‐25SII
1‐1628‐2
HardwareInstallation
Figure2showsthesystemconnectiondiagram.
RPA System Connection Diagram
RPA
Assembly
Controller
Electronics
Laser
JP4
J2
User
Serial
Interface
JP5
Parallel
Output
JP 3
J3
System interface cable
Power
Supply
Figure2–RPASystemConnectionDiagram
Pleasefollowthesestepstosetupthesystemforoperation.
1. AsilvercablehasbeenincludedtoconnecttheRPAtothecontrollerelectronics.Connect
the25‐pinconnectortotheelectronicschassis J2 .
2. Connecteachofthe15‐pinconnectorstothetwoheadersontheRPAassembly.
3. Connectthesuppliedribbonserialcablefromtheuserserialport JP5 ofthecontroller
electronicstotheserialportonthecomputer.
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4. Pluginpowerforthecontrollerelectronics J3 .Amatingconnectorwassuppliedwiththe
controllerelectronicsandneedstobewiredtothepowersource.Thewiringofthepower
connectoriscontainedintheRPAControllerTechnicalDescriptiondocument,whichisalso
providedontheincludedCD.
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5. Poweronthecontrollerelectronicsatthesupplyvoltage.PleaserefertotheRPAController
TechnicalDescriptionontheprovidedCDforinformationregardingthecorrectsupply
voltageforyourdevice Table3‐4 .
SoftwareInstallation
AnLabVIEW‐basedRPAdemonstrationGUIisprovidedontheincludedCD.Thefollowing
instructionsinstallthisGUIontotheuser’sPCandallowtheusertoexercisethebasicfunctionality
oftheRPAviatheuserserialinterface.
1. PlacetheincludedCDintothecontrolcomputer’sCDdrive.
2. Navigatetoanddoubleclickonfilelabeledsetup.exe.
3. Click“Next”ornavigatetothedesireddirectoryforsoftwareinstallationandthenselect
“Next”.
4. Readthroughthelicenseagreement.Whenfinished,selectthe“IaccepttheLicense
Agreement”optionandpress“Next”.
5. The‘StartInstallation’windowwillappear.Press“Next”tobegininstallation.
6. Whentheinstallationiscomplete,pressthefinishbutton.
AdditionallyOPTRAprovidestheLabVIEWsourcecodeforthisdemonstrationGUIfortheuserto
potentiallyincorporateintotheirownsystemdevelopment.Thesesoftware“drivers”canbe
installedintwoways,eitherembeddedintotheLabVIEWsoftwaredevelopmentsystemorintoany
directoryontheuser’ssystem.
ToplacetheexamplecodeintotheLabVIEWsoftwaredevelopmentsystem,copythe‘LabVIEWSW’
directoryonthedeliveredCDintotheuser.libdirectoryinyourLABVIEWinstallation forexample:
C:\ProgramFiles x86 \NationalInstruments\LabVIEW2011\user.lib .Renamethedirectory
from‘LabViewSW’to‘OPTRARPA’tobemorespecific.Theusercanthenaccessthevi’sdirectory
fromthe‘Function‐ UserLibraries‐ OPTRARPA’PaletteinLabVIEW.Alternatively,placethe
directoryanywhereonthesystemandusethe‘Function‐ SelectaVI’tobrowseandaccessthevi’s.
ThefollowingisadescriptionoftheLabVIEWvi’sprovided:

SendRPACommand–ThisVIallowstheusertosendallthecommandmessagesdescribed
inTable2‐3oftheRPAControllerTechnicalDescription.

GetRPAStatus‐ThisVIreceivesallthestatusmessagesdescribedinTable2‐4oftheRPA
ControllerTechnicalDescription.

RPADemo–ThisvidemonstratestheproperusageofSendRPACommandand
GetRPAStatusandcanbeusedtoprovideatemplatefortheuser’sapplication.
FormoreinformationonthemessagestructureusedtocommunicatewiththeRPA,refertothe
RPAControllerTechnicalDescriptiondocumentincludedontheCD section2.1.1,CommandPort .
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