Table of Contents
Related Manuals for Zaber Technologies Inc. X-LRQ-DEC Series
Summary of Contents for Zaber Technologies Inc. X-LRQ-DEC Series
- Page 1 X-LRQ-DEC Product User's Manual Firmware 5.00 and up Last Update: November 2 2016 Visit www.zaber.com/wiki for more recent updates. Zaber Technologies Inc. #2 - 605 West Kent Ave. N. Vancouver, British Columbia Canada, V6P 6T7...
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Page 2: Table Of Contents
Table of Contents Disclaimer................................1 Precautions.................................2 Lubrication of linear guides........................2 Conventions used throughout this document....................3 Quick Tutorial..............................4 Initial Set-up............................4 Initialization............................4 Using the Device.............................5 Modifying Device Settings .......................5 Built-In Help .............................5 Device Overview..............................7 Connectors..............................7 Power..............................7 RS-232 Communications.........................7 Indicators ..............................7 Installation................................9 Daisy-Chaining Devices.........................9 Physical Installation............................11 Dust Cover Removal and Installation....................11 Manual Control..............................14... - Page 3 Table of Contents Warranty and Repair............................26 Standard products ..........................26 Custom products...........................26 How to return products.........................26 Email Updates..............................27 Contact Information............................28 Appendix A - Available Communications Ports...................29 Finding Installed Serial Ports........................29 Windows ............................29 Linux..............................29 Comparison - X-LRQ-DEC Series......................32...
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Page 4: Disclaimer
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. Disclaimer... -
Page 5: Precautions
Lubrication of linear guides The X-LRQ-DEC series of linear stages use recirculating ball bearing linear guides to support and guide the stage top of the device. These linear guides require lubrication in order to achieve the longest possible lifetime at the highest possible performance. -
Page 6: Conventions Used Throughout This Document
Conventions used throughout this document • Fixed width type indicates communication to and from a device. The ↵ symbol indicates a carriage return, which can be achieved by pressing enter when using a terminal program. An ASCII command followed by (T:xx) indicates a legacy T-Series Binary Protocol command that •... -
Page 7: Quick Tutorial
Quick Tutorial We recommend using Zaber Console to communicate with the device(s). For other software options, see Software. Please refer to the ASCII Protocol Manual and/or Binary Protocol Manual for more detailed information on the available commands. Initial Set-up Power up all integrated devices and controllers and daisy chain them together using the RS-232 "Prev"... -
Page 8: Using The Device
command. Parking allows the device to be turned off and then used at a later time without first having to home the axes. Using the Device Several commonly used ASCII commands, and their Binary equivalents, are shown below. For a full list of available commands, please refer to the Command Reference section below. - Page 9 /1 help move↵ @01 0 OK IDLE -- 0 #01 0 move abs {x} Move to absolute position #01 0 move rel {x} Move by relative position #01 0 move vel {x} Move at constant velocity #01 0 move min Move to minimum position #01 0 move max Move to maximum position}...
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Page 10: Device Overview
Device Overview Connectors All images are shown looking into the device. Power Description 24 - 48V GND (Note: Zaber's power supplies ground this pin to AC Earth) Note: To prevent damage to the device due to static buildup, the device should be properly grounded. The power supplies Zaber provides for X-Series devices are non-isolated and thus ground the device chassis to Earth via the negative terminal of the power supply. - Page 11 Red - Error On/blinking: Device has lost its settings, or an error has occurred. Please contact Zaber Technical • Support. Yellow - Communication/Busy • On: Device is moving, or data is being transferred. • Blinking: Device is under manual control via the knob (in Velocity mode). The blinking rate is proportional to movement speed.
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Page 12: Installation
Installation The X-LRQ-DEC can be connected to a computer as follows: Either plug the M8 to D-SUB serial adaptor (X-SDC) into the computer's serial port, or the M8 to USB adaptor (X-USBDC) into one of your computer's USB ports, then attach the device to the adaptor. - Page 13 To daisy-chain X-Series devices with T-Series and A-Series devices: • Ensure all devices are set to the same communication protocol and baud rate before connecting them. If any T-Series devices will be in the chain, then the communication protocol must be Binary at 9600 baud rate.
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Page 14: Physical Installation
Physical Installation The X-LRQ-DEC stage has two sets of mounting features that are acceptable means of fastening the stage to a structure. The first are the slotted holes in the middle of the stage which use M6 fasteners on a 25 mm x 50 mm grid. - Page 15 • Take 2x M3x3 screws and thread them through the Dust Cover Shim and into the Dust Cover Shim Mount Away. Pull the shim as far as it can go towards the away end, and hand tighten the screws, ensuring that the Dust Cover Shim does not twist during tightening. •...
- Page 16 • Take the LRQ Dust Cover Adapter Lid and place it in position on the Stage Top Adapter, ensuring that the countersink holes are on the top. Take the M2x4 screws and hand tighten them into the Stage Top Adapter. Dust Cover Removal and Installation...
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Page 17: Manual Control
Manual Control The X-Series motion control products have an integrated, depressible knob with 20 detents per revolution, allowing devices to be controlled without the use of a computer. There are two manual movement modes available: Velocity and Displacement. Switch between these modes by holding down the knob for 1 second or by configuring the knob.mode (T:109) setting. -
Page 18: Trajectory Control And Behaviour
Trajectory Control and Behaviour This section describes the behaviour of the device trajectory when a movement command is issued. Software Position Limits The travel range of the device is limited by the Minimum Position and Maximum Position settings. The factory settings for the devices are configured to match the physical travel range. If a customized range is desired, it can be changed by configuring the limit.min (T:106) and limit.max (T:44) settings to appropriate values. -
Page 19: Quick Command Reference
Quick Command Reference All X-Series devices ship with the ASCII Protocol enabled by default but the Binary Protocol is also supported. ASCII Protocol The following table offers a quick command and setting reference for the X-LRQ-DEC. Follow the links to view a detailed description of each instruction or refer to the ASCII Protocol Manual. -
Page 20: Quick Device Settings
multi-axis motion. Resets the device, as it would system reset Device 6.06+ appear after power up. Restores common device system Device 6.06+ settings to their default restore values. Echoes the provided message tools echo Device (message) 6.06+ (if any) back to the user. Moves the axis to a limit tools Axis... - Page 21 The device will send alert messages when this comm.alert Device Yes 6.06+ setting is 1. The device includes checksums in its messages comm.checksum Device Yes 6.06+ if this setting is set to 1. The communications protocol used by the comm.protocol Device Yes 6.06+ device on the current interface.
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Page 22: Binary Protocol
The maximum position the device can move to, limit.max Axis 6.06+ measured in microsteps. The minimum position the device can move to, limit.min Axis 6.06+ measured in microsteps. maxspeed Axis 6.06+ The maximum speed the device moves at. motion.accelonly Axis 6.06+ Sets the acceleration used to increase the speed. - Page 23 Return Stored Position Address Command Stored Position Move To Stored Position Address Command Final Position Move Absolute Absolute Position Command Final Position Move Relative Relative Position Command Final Position Move At Constant Speed Speed Command Speed Stop Ignored Command Final Position Restore Settings* Peripheral ID Command...
- Page 24 Read-Only Setting Read-Only Calibrated Encoder Return Calibrated Encoder Count 83 Ignored Setting Count Read-Only Return Calibration Type Ignored Calibration Type Setting Read-Only Return Calibration Error Ignored Calibration Error Setting Set Auto-Reply Disabled Mode* 101 Auto-Reply Mode Setting Auto-Reply Mode Set Message ID Mode* Message ID Mode Setting Message ID Mode Set Home Status...
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Page 25: Troubleshooting X-Series Motion Devices
Troubleshooting X-Series Motion Devices The following sections contain tips for troubleshooting common problems. If the device is unable to communicate, and it is operating erratically, a manual factory reset can be performed through the following steps. Note that this will reset most settings. Power Off the device Push and hold the knob for the first Axis (if applicable) Power On the device... -
Page 26: Manual Control
Manual Control Turning the knob either way results in no movement The knob may have been disabled. Check that the knob.enable (T:107) setting is correct. Restore the default parameters through the system restore (T:36) command. The device won't cover the full range of travel. The device hasn't been homed. - Page 27 ◊ Make sure the correct serial port is selected. Try selecting other serial ports in the software. ◊ Check the baud rate, hand shaking, parity, stop bit, etc. when configuring the serial communications software. The required settings are listed in the RS-232 Communications section above.
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Page 28: Slipping And Stalling
Slipping and Stalling The device moves smoothly, but only moves for a short time then stops. The Blue LED is flashing but the device is not actually slipping or stalling. The internal encoder counter needs to be re-initialized. Reset the device by power cycling it or sending system reset (T:0) command, then re-initialize it with the home (T:1) command. -
Page 29: Warranty And Repair
Warranty and Repair For Zaber's policies on warranty and repair, please refer to the Ordering Policies Standard products 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. -
Page 30: Email Updates
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 31: Contact Information
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. The original instructions for this product are available at http://www.zaber.com/wiki/Manuals/X-LRQ-DEC. -
Page 32: Appendix A - Available Communications Ports
Appendix A - Available Communications Ports Finding Installed Serial Ports Windows Open Search or Run from the Start Menu or Taskbar, type "Device Manager" and press enter. Expand the Ports (COM & LPT) category. In this example there are two serial ports available (COM1 and COM15), which are both USB ♦... - Page 33 [ 2.468149] 0000:00:03.3: ttyS4 at I/O 0xec98 (irq = 17) is a 16550A [ 13.514432] usb 7-2: FTDI USB Serial Device converter now attached to ttyUSB0 ♦ This shows that there are 3 serial ports available: ttyS0, ttyS4 and ttyUSB0 (a USB adaptor) Checking port permissions ♦...
- Page 34 At only 48 mm high, these stages are excellent for applications where a low profile is required. The X-LRQ-DEC's innovative design allows speeds up to 205 mm/s and loads up to 100 kg. Like all of Zaber's products, the X-LRQ-DEC Series is designed to be 'plug and play' and very easy to set up and operate.
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Page 35: Comparison - X-Lrq-Dec Series
RoHS Compliant CE Compliant Stiffness in Pitch 640 N-m/deg 27 µrad/N-m Stiffness in Roll 1850 N-m/deg 9 µrad/N-m Stiffness in Yaw 665 N-m/deg 26 µrad/N-m Comparison - X-LRQ-DEC Series • Inline Drive • Parallel Drive Inline Drive Comparison - X-LRQ-DEC Series... - Page 36 (< 0.000433 ") (8.071 "/s) (0.000012 "/s) (0.000012 "/s) < 8 µm 40 mm/s 0.000061 mm/s 0.000061 mm/s X-LRQ150AL-DE51C (< 0.000315 ") (1.575 "/s) (0.000002 "/s) (0.000002 "/s) X-LRQ150BL-DE51C < 11 µm 205 mm/s 0.000303 mm/s 0.000303 mm/s Comparison - X-LRQ-DEC Series...
- Page 37 < 62 µm 0.076 degrees X-LRQ450BL-DE51C (22.4 lb) (< 0.007874 ") (< 0.002441 ") (1.326 mrad) 110 N < 210 µm < 77 µm 0.097 degrees X-LRQ600AL-DE51C (24.7 lb) (< 0.008268 ") (< 0.003031 ") (1.693 mrad) Comparison - X-LRQ-DEC Series...
- Page 38 (< 0.000138 ") 150 mm 13 µm < 2.5 µm X-LRQ150AP-DE51C 0.09921875 µm (5.906 ") (0.000512 ") (< 0.000098 ") 150 mm 15 µm < 3.5 µm X-LRQ150BP-DE51C 0.49609375 µm (5.906 ") (0.000591 ") (< 0.000138 ") Comparison - X-LRQ-DEC Series...
- Page 39 205 mm/s 0.000303 mm/s 0.000303 mm/s X-LRQ450BP-DE51C (< 0.000433 ") (8.071 "/s) (0.000012 "/s) (0.000012 "/s) < 8 µm 40 mm/s 0.000061 mm/s 0.000061 mm/s X-LRQ600AP-DE51C (< 0.000315 ") (1.575 "/s) (0.000002 "/s) (0.000002 "/s) X-LRQ600BP-DE51C Comparison - X-LRQ-DEC Series...
- Page 40 (0.262 mrad) (0.768 mrad) (0.250 ") 0.015 degrees 0.044 degrees 1.27 mm X-LRQ150AP-DE51C 3.10 kg (0.262 mrad) (0.768 mrad) (0.050 ") 0.015 degrees 0.044 degrees 6.35 mm X-LRQ150BP-DE51C 3.10 kg (0.262 mrad) (0.768 mrad) (0.250 ") Comparison - X-LRQ-DEC Series...
- Page 41 (0.715 mrad) (1.134 mrad) (0.250 ") 0.054 degrees 0.075 degrees 1.27 mm X-LRQ600AP-DE51C 5.58 kg (0.942 mrad) (1.309 mrad) (0.050 ") 0.054 degrees 0.075 degrees 6.35 mm X-LRQ600BP-DE51C 5.58 kg (0.942 mrad) (1.309 mrad) (0.250 ") Comparison - X-LRQ-DEC Series...
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