Related Manuals for Zaber Technologies Inc. X-MCB1 Series
Summary of Contents for Zaber Technologies Inc. X-MCB1 Series
- Page 1 Simplifying Motion Control X-MCB1 Series User's Manual Single axis stepper motor controllers (chopper drive) with I/O ZABER TECHNOLOGIES INC. Fri Nov 03 2017...
-
Page 2: Table Of Contents
Table of Contents 1. Disclaimer --------------------------------------------------------------------------------------------- 2. Precautions ------------------------------------------------------------------------------------------- 3. Conventions used throughout this document -------------------------------------------- 4. Quick Tutorial ----------------------------------------------------------------------------------------- 4.1. Initial Set-up ------------------------------------------------------------------------------------- 4.2. Initialization -------------------------------------------------------------------------------------- 4.3. Using the Device ------------------------------------------------------------------------------- 4.3.1. Modifying Device Settings ------------------------------------------------------------ 4.3.2. Built-In Help ------------------------------------------------------------------------------ 5. - Page 3 9.1. ASCII Protocol ---------------------------------------------------------------------------------- 9.1.1. Quick Commands ---------------------------------------------------------------------- 9.1.2. Quick Device Settings ----------------------------------------------------------------- 9.2. Binary Protocol --------------------------------------------------------------------------------- 10. I/O Usage and Examples ------------------------------------------------------------------------ 10.1. Digital Inputs ---------------------------------------------------------------------------------- 10.2. Digital Outputs -------------------------------------------------------------------------------- 10.3. Analog Inputs --------------------------------------------------------------------------------- 11. Troubleshooting X-Series Motion Devices ------------------------------------------------ 11.1.
- Page 4 17. Product Drawing ----------------------------------------------------------------------------------- 18. Specifications -------------------------------------------------------------------------------------- ZABER TECHNOLOGIES INC.
-
Page 5: Disclaimer
1. 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 6: Quick Tutorial
4. Quick Tutorial We recommend using Zaber Console to communicate with the device(s). For other software options, see the Software page. Please refer to the ASCII Protocol Manual and/or Binary Protocol Manual for more detailed information on the available commands. 4.1. -
Page 7: Initialization
Device 1, the next will become Device 2, and so on. 4. On the new unit, configure the peripheralid (T:66) setting of each axis in Zaber Console with either the peripheralid setting in ASCII or the Peripheral Id setting in Binary. The Peripheral ID for a Zaber peripheral can be found on it's label as the PID. -
Page 8: Modifying Device Settings
4.3.1. Modifying Device Settings Here are some examples if you would like to customize particular device settings. Refer to the ASCII Settings or Command Reference section for detailed descriptions of each setting. Command Description /1 set maxspeed 100000 (T:42:100000) Set the speed of all axes on the device. /1 get maxspeed (T:53:42) Query the axes' speed. -
Page 9: Device Overview
/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... -
Page 10: Rs-232 Communications
5.1.2. RS-232 Communications Previous Next Power Power Ground Ground Receive Transmit Transmit Receive Default Settings: • Baud Rate: 115200 • Protocol: Zaber ASCII Specifications • Supported Protocols: Zaber ASCII, Zaber Binary • Supported Baudrates: 9600, 19200, 38400, 57600, 115200 • Bits: 8 •... -
Page 11: Motor Interface
• USB 2.0 Full Speed • Communications Device Class, Abstract Control Model • Default Protocol: Zaber ASCII • Supported Protocols: Zaber ASCII, Zaber Binary 5.1.4. Motor Interface Description D Limit Sensor or Encoder Error C Limit Sensor Away Limit Sensor Home Limit Sensor Ground Motor B1... -
Page 12: Inputs / Outputs
5.1.5. Inputs / Outputs Description Digital In 1 Digital In 2 Digital In Common Digital Out 1 Digital Out 2 Digital Out Common Analog In 1 Analog In 2 ZABER TECHNOLOGIES INC. -
Page 13: Indicators
Digital I/O Specifications Equivalent circuit Maximum Input Voltage (per pin): 8.0V Minimum Input Logic High Voltage: 1.5V Maximum Output Current (per pin): 25mA Maximum Switchable Voltage (per pin): 60V Analog Input Specifications Equivalent circuit Absolute Maximum Input Range (per pin): 0V - 12.8V Nominal Input Range (per pin): 0V - 10.0V Resolution: 0.0125V... -
Page 14: Communications
• 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. • Blinking at fixed rate: Packet corruption has occurred for ASCII commands sent with a checksum. -
Page 15: Installation
6. Installation The X-MCB1 can be connected to a computer as follows: 1. Plug the serial cable (X-SDC) into the computer's serial port and the device's Prev port. Alternatively, connect the USB cable (U-DC06) to the device and your computer instead. In order to use the integrated USB port on the X-MCB1, it is necessary to first install the appropriate USB driver. -
Page 16: Daisy-Chaining Devices
The parameter of 10000 in the move command above specifies 10000 microsteps. To see the microstep size (default resolution) for the peripheral and how it translates to displacement, first go to the product overview page, find your device, click through to the device's webpage, and click on the "Series Specs"... -
Page 17: Physical Installation
6.2. Physical Installation The X-MCB1 is designed to mount to 25mm or 2" pitch optical breadboards using M6 or 1/4" screws, respectively, or for use on a desk or table. It can be mounted to a breadboard in two configurations: TIP: When mounting on-edge, it is easier to connect the cables nearest to the adapter plate after mounting the unit to the optical breadboard. - Page 18 In situations where mounting is not necessary, 4 adhesive rubber feet are provided which can be applied to the underside of the unit to prevent it from sliding on the surface of a desk or table. ZABER TECHNOLOGIES INC.
-
Page 19: Manual Control
To apply the feet, peel each from the protective backing and place them firmly in the corner recesses on the underside of the unit. 7. Manual Control Most 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. -
Page 20: Velocity Mode
7.1. Velocity Mode Turn the knob clockwise to move the device in the positive direction (extend) or counter-clockwise for negative direction (retract). Each detent of the knob increases the speed of the carriage. There are 16 speeds in each direction. The velocity profile and maximum speed can be configured via the knob.speedprofile (T:112) and knob.maxspeed (T:111) settings. -
Page 21: Software Position Limits
8.1. Software Position Limits The travel range of the device is limited by the Minimum Position and Maximum Position settings. Setting a peripheral ID will configure these settings 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 22: Quick Command Reference
9. Quick Command Reference All X-Series devices ship with the ASCII Protocol enabled by default but the Binary Protocol is also supported. 9.1. ASCII Protocol The following table offers a quick command and setting reference for the X-MCB1. Follow the links to view a detailed description of each instruction or refer to the ASCII Protocol Manual. - Page 23 move Axis abs|rel|vel value 6.06+ Moves the axis to various min|max positions along its travel. stored number index number (6.21+) sin amplitude period [count] (6.22+) sin stop (6.22+) renumber Device value 6.06+ Renumbers all devices in the chain. Device setting value 6.06+ Sets the device or axis and Axis...
-
Page 24: Quick Device Settings
trigger dist Device number axis 6.06+ Configures a trigger to displacement toggle a digital output line number enable [count] every displacement number disable microsteps. trigger time Device number period 6.06+ Configures a periodic number enable [count] trigger to toggle a digital number disable output line every period milliseconds. - Page 25 comm.rs232.baud Device 6.06+ The baud rate used by RS232 Prev and Next interfaces. comm.rs232.protocol Device 6.09+ The protocol used by RS232 Prev and Next interfaces. comm.usb.protocol Device 6.09+ The protocol used by the usb interface. deviceid Device 6.06+ The device ID for the unit. driver.current.hold Axis 6.06+...
- Page 26 knob.mode Axis 6.06+ Sets the mode of the manual control knob. knob.speedprofile Axis 6.06+ Sets the profile to be used per increment when in velocity mode. limit.approach.maxspeed Axis 6.06+ Maximum speed used when approaching a limit sensor. limit.cycle.dist Axis 6.20+ The length of one full rotation.
- Page 27 limit.c.posupdate Axis 6.06+ Position update to occur when sensor is triggered. limit.c.preset Axis 6.06+ The default position of the c limit sensor. limit.c.state Axis 6.06+ The state of the c limit sensor. limit.c.triggered Axis 6.06+ Whether the c limit sensor has been triggered previously.
-
Page 28: Binary Protocol
stream.numbufs Device 6.14+ The number of stream buffers provided in the device. stream.numstreams Device 6.14+ The number of streams provided in the device. system.access Device 6.06+ Sets the access level of the user. system.axiscount Device 6.06+ The number of axes in the device. system.led.enable Device 6.06+... - Page 29 Store Current Position* Address Command Address Return Stored Position Address Command Stored Position Move To Stored Position Address Command Final Position Move Absolute Absolute Command Final Position Position Move Relative Relative Command Final Position Position Move At Constant Speed Speed Command Speed Stop...
- Page 30 Return Serial Number Ignored Read-Only Serial Number Setting Set Park State* Park State Setting Position Set Peripheral ID* Peripheral ID Setting Peripheral ID Return Digital Input Count Ignored Read-Only Pin Count Setting Read Digital Input Pin Number Command Pin State Read All Digital Inputs Ignored Command...
- Page 31 Set Home Status Home Status Setting Home Status Set Home Sensor Type* Home Sensor Setting Home Sensor Type Type Set Auto-Home Disabled Auto-Home Setting Auto-Home Disabled Mode Mode* Disabled Mode Set Minimum Position* Minimum Setting Minimum Position Position Set Knob Disabled Mode* Knob Setting Knob Disabled Mode...
-
Page 32: I/O Usage And Examples
10. I/O Usage and Examples The X-MCB1 features a range of flexible input and output options that can be easily examined and controlled from user software. The input and output capabilities of the X-MCB1 can also be used with triggers to perform actions based on the current value of the I/O channel. To minimize the number of power supplies needed, the on-board +5V and GND connections can be used as non-isolated power supplies for I/O circuitry as long as the current draw remains below 200 mA. - Page 33 V_SUPP (V) R_EXT (Ohms) Power (mW) 0 - 8 8 - 15 500R 125mW 15 - 24 1500 250mW The circuit above also shows how to interface with an open collector output from another device. Reading the inputs is accomplished by sending the unit an io get command, as shown below. /1 io get di @01 0 OK IDLE –- 0 0 1 0 /1 io get di 1 @01 0 OK IDLE -- 0...
-
Page 34: Digital Outputs
10.2. Digital Outputs All digital outputs on the X-MCB1 are fully optoisolated and capable of sinking 15mA each at up to 50V. The first example circuit below shows how to drive an LED from one of the digital outputs. In order to switch loads with a higher current draw, for example a relay, an external switching transistor is required, as shown in example 2. -
Page 35: Analog Inputs
The 74LS04 contains 6 inverters so it is possible to convert all of the digital outputs with one IC. In order to maintain isolation, it is recommended that the 5V and GND supply connections come from the device requiring the TTL signalling. It is, however, possible to use the 5V and GND connections from the Analog Output connector on the X-MCB1 to power the external device, as long as the current limits are adhered to. - Page 36 R_GAIN's value should be chosen so that a positive full scale of the instrument produces 10V at the analog input of the X-MCB1 and a negative full scale produces 0V. The OP97 op-amp provides an offset of 5V to the amplified value so that no load on the instrument produces an output of 5V.
-
Page 37: Troubleshooting X-Series Motion Devices
11. 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. 1. -
Page 38: Front Panel Indicators
11.1. Front Panel Indicators Green LED On The device is powered on and is operating normally. Green LED Fades In and Out The device is parked. Issue a tools parking unpark (T:65) command, or home (T:1) the device. Green LED Flashes Slowly The operating conditions of the device are outside of the recommended range. -
Page 39: Manual Control
11.2. 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 40: Communication Errors
• Try a lower acceleration and deceleration. • Clean the screw and lightly re-grease it with a grease that does not degrade plastics. The device has repeatability errors smaller than 4 full steps. If steps aren't being skipped, friction or loose parts may still cause some variation when returning to a position. - Page 41 Two or more devices both respond to commands sent to device 1. Most devices are shipped with their device number set as 1. If you connect the devices through Zaber Console, you will be prompted to renumber them. If you aren't able to install and open Zaber Console, send the renumber (T:2) command in the software you are using to set all of the device numbers to different values.
-
Page 42: Slipping And Stalling
In Binary mode, the device sometimes returns fewer than 6 bytes. This typically indicates a problem with the serial port settings. Some serial ports are set to automatically recognize and remove specific control characters such as carriage returns when they appear in the RS-232 receive buffer. Check that the settings are correct and are not removing or replacing characters. -
Page 43: Custom Products
12.2. Custom products Custom products are any part numbers containing the suffix ENG followed by a 4 digit number. Each of these products has been designed for a custom application for a particular customer. Custom products are guaranteed for one year, unless explicitly stated otherwise. During this period Zaber will repair any products with faults due to manufacturing defects, free of charge. -
Page 44: Appendix A - Available Communications Ports
15. Appendix A - Available Communications Ports 15.1. Finding Installed Serial Ports 15.1.1. Windows 1. Open Search or Run from the Start Menu or Taskbar, type "Device Manager" and press enter. 2. Expand the Ports (COM & LPT) category. ZABER TECHNOLOGIES INC. -
Page 45: Linux
• In this example there are two serial ports available (COM1 and COM15), which are both USB adaptors. 15.1.2. Linux 1. Finding devices • Open a terminal and execute the following command: dmesg | grep -E ttyU\?S • The response will be similar to the following: 2.029214] serial8250: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A 2.432572] 00:07: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A 2.468149] 0000:00:03.3: ttyS4 at I/O 0xec98 (irq = 17) is a 16550A... -
Page 46: Osx
USB adaptor) 2. Checking port permissions • Using the ports found above, execute the following command ls -l /dev/tty{S0, S4, USB0} • The permissions, given below, show that a user has to be root or a member of the dialout group to be able to access these devices crw-rw---- 1 root dialout 4, 64 Oct 31 06:44 /dev/ttyS0 crw-rw---- 1 root dialout 4, 68 Oct 31 06:45 /dev/ttyS4 crw-rw---- 1 root dialout 188, 0 Oct 31 07:58 /dev/ttyUSB0... -
Page 47: Appendix B - Usb Driver Installation
16. Appendix B - USB Driver Installation 16.1. Compatible Devices The following Zaber controllers include a USB 2.0 Type-B port: • X-MCB1 • X-MCB2 • A-MCB2 When connected and configured following the instructions on this page, they will create a virtual serial (COM) port on your computer for communication. -
Page 48: Download
16.2.1. Download 1. Download the driver here: Zaber Integrated USB Driver. 2. Extract the files to a handy location: Downloads, My Documents or the Desktop are good places. 3. Connect power to the controller and connect the USB cable from the controller to the computer. - Page 49 5. Choose 'Browse my computer for driver software'. ZABER TECHNOLOGIES INC.
- Page 50 6. Click the Browse button and select the location where you extracted the driver to. ZABER TECHNOLOGIES INC.
- Page 51 7. Click Next. ZABER TECHNOLOGIES INC.
- Page 52 8. Click Install. 9. Click Close. Your controller is now available and should appear in the Ports (COM & LPT) section of the Device Manager. ZABER TECHNOLOGIES INC.
-
Page 53: Windows Xp
16.2.3. Windows XP 1. Windows will automatically detect the connection of the controller. 2. Once the New Hardware Found wizard starts, select 'No, not this time' and click next. ZABER TECHNOLOGIES INC. - Page 54 If the wizard doesn't start: 1. Right click on My Computer and select Manage. 2. Select Device Manager from the list on the left. 3. Under 'Unknown Devices', you should see an entry with the name of the Zaber controller that is connected. 4.
- Page 55 4. Click the Browse button and select the location where you extracted the driver to. 5. Click Next. ZABER TECHNOLOGIES INC.
- Page 56 6. Select Continue Anyway. 7. Click Finish. Your controller is now available and should appear in the Ports (COM & LPT) section of the Device Manager. ZABER TECHNOLOGIES INC.
-
Page 57: Linux
16.3. Linux USB Communications Device Class (CDC) devices are supported in kernel 2.4 and above through the cdc_acm module. No special configuration or drivers are needed. The controller will appear as a ttyACMx device. The kernel log (available through dmesg) details the device detection and the assigned device, in this case /dev/ttyACM0 [94929.668171] usb 3-4.1.3: new full-speed USB device number 92 using xhci_hcd... -
Page 58: Os X
If the device does not appear in the /dev directory when connected, the device may need to be manually attached. To do this, enter the commands below corresponding to your controller: X-MCB2: echo "0x2939 0x495b" > /sys/bus/usb/drivers/cdc_acm/new_id X-MCB1: echo "0x2939 0x495a" > /sys/bus/usb/drivers/cdc_acm/new_id A-MCB2: echo "0x2939 0x459"... - Page 59 17. Product Drawing ZABER TECHNOLOGIES INC.
- Page 60 18. Specifications Specification Value Alternate Unit RS-232, USB 2.0 Communication Interface Communication Protocol Zaber ASCII (Default), Zaber Binary Motor and supply voltage dependent Maximum Current Draw Power Supply 24-48 VDC Power Plug 2-pin Screw Terminal Controller Maximum Current Per 1410 mA 2,000 mA peak Phase Motor Connection...
Need help?
Do you have a question about the X-MCB1 Series and is the answer not in the manual?
Questions and answers