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X-MCC Series User's Manual
Multi-axis universal motor controllers with Auto Detect
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.
Precautions
The X-MCC controller is intended to drive a wide variety of Zaber peripheral devices. For most Zaber peripherals
(any with a part number ending in 'A'), connect the peripheral to automatically configure the settings. If your Zaber
peripheral does not end in 'A', simply set the
Manual
for more information on how to modify the settings. Damage to the peripheral may result if the settings are
not correct.
WARNING: Serious damage can occur to peripheral devices when operated with significantly higher-than-
rated current. The X-MCC controller can provide up to 6A of current to a peripheral. BEFORE CONNECTING A
NEW DEVICE to the X-MCC controller, it is important to set the correct parameters in the controller or
ensure you are using an Auto Detect peripheral (Zaber device with a part number ending in 'A'). Please
check the rated current for any peripheral device before changing the current settings on the X-MCC from the
default values. If you have any questions, please contact
WARNING: Instant stopping of a moving axis through the
peripheral product and reduced lifespan. Use sparingly if the axis is under heavy load.
Conventions used throughout this document
Fixed width
which can be achieved by pressing enter when using a terminal program.
peripheral.id
type indicates communication to and from a device. The
(T:66) with the
peripheral's ID
Zaber Technical Support
axis knob
or
E-Stop
number. See the
may result in damage to the
symbol indicates a carriage return,
Protocol
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Related Manuals for Zaber Technologies Inc. X-MCC Series
Summary of Contents for Zaber Technologies Inc. X-MCC Series
- Page 1 X-MCC Series User's Manual Multi-axis universal motor controllers with Auto Detect 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 2: Quick Tutorial
When referring to commands that involve physical distances, this manual uses the term 'increments'. For stepper motor devices, this term refers to the microstep size of the device. For non-stepper devices, the term refers to the size of an encoder count. See the command protocol for more details. -
Page 3: Using The Device
8. Once a peripheral has been activated, either press the Home icon in Zaber Console or turn a knob on the X- MCC to move the peripheral associated with that axis. Most Zaber positioners will only move at reduced speed in one direction until they reach a home sensor at one limit of travel. Then they will move in both directions over full travel. -
Page 4: Firmware Updates
The X-MCC is compatible with many Zaber peripherals, including those with Auto Detect, a feature that enables a controller to automatically configure itself for the connected peripheral. Peripherals with Auto Detect have an “A” at the end of their product name, for example: "LAC10A-T4A". When an auto-detect peripheral is connected to an axis on the X-MCC, the peripheral will be activated automatically if the axis is not configured for use with a different peripheral. - Page 5 Ground Ground Receive Transmit Transmit Receive Default Settings Baud rate: 115200 Protocol: Zaber ASCII Specifications Supported Protocols: Zaber ASCII Supported baud rates: 9600, 19200, 38400, 57600, 115200 Bits: 8 Parity: None Stop Bits: 1 Flow Control: None Sensor and 3 Amp Motor Interface Pin Description Auto Detect Clock Auto Detect Data...
- Page 6 NOTE: All differential encoder signals are terminated on the controller with 120 Ω. They are expected to be either RS-422 digital signals with a maximum wave frequency of 10 MHz, or 1 V peak-to-peak analog signals with the common mode of each pair between 1.5 V and 2.5 V. 6 Amp Motor Interface PinStepper Motor Three Phase Motor...
- Page 7 Digital Out 2 Digital Out 3 Digital Out 4 Digital Out Common Specifications Equivalent circuit Maximum Input Voltage (per pin): 8.0 V † Minimum Input Logic High Voltage: 1.5 V Maximum Output Current (per pin): 20 mA Maximum Switchable Voltage (per pin): 50 V The input voltage range can be extended with additional series resistance, as described in the I/O Usage and †...
- Page 8 Mating Products TE Connectivity 284506-8 or 1986692-8 External Regenerative Braking Resistor Pin Description External Regen + External Regen - NOTE: Pin 1 is internally connected to the controller's bus voltage, so this pin's voltage will nominally be in the 24- 48 V range.
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Page 9: Installation
Indicators Green (Master) - Power On: Controller is operational. Blinking twice per second: The power supply voltage or controller temperature is out of range. Fading in and out slowly: A peripheral device is parked. See the tools parking command. Red (Master) - System Error On/blinking: An error has occurred. -
Page 10: Daisy-Chaining Devices
As a simple first test, try entering: /renumber home move rel 10000 The parameter of 10000 in the move command above specifies 10000 increments. To see the increment 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 11: Physical Installation
Connect a T-XDC S-XDC for daisy-chaining an A-MCB2) adaptor cable to the Next port of the last X- Series device in the chain, and to the Prev port of the A-Series device. Power supplied to an X-Series device will not be transmitted to any A-Series devices in the chain. Contact Zaber Technical Support for assistance selecting connecting cables when daisy-chaining multiple... -
Page 12: Trajectory Control And Behaviour
On power-up, many devices will only travel towards the home location from their start-up positions until the home position is reached. Once the device has been homed, the full range of travel becomes available. Velocity Mode Turn the knob clockwise to move the device in the positive direction (extend) or counter-clockwise for negative direction (retract). -
Page 13: I/O Usage And Examples
The movement speed of the device depends on device status and various speed settings. If the device has not been initialized by the home command or by moving towards the home end of the device, movement speed will be constrained to fail-safe values. The home status of the device can be determined by reading limit.home.triggered setting. -
Page 14: Digital Outputs
V_SUPP (V) R_EXT (Ohms) Power (mW) 0 - 8 8 - 15 15 - 24 1500 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. -
Page 15: Analog Inputs
The first command sets the first digital output, which would cause the LED in example 1 above to glow. The second command clears the output, turning off the LED. TTL Outputs Additional circuitry is required to get TTL signal levels from the X-MCC, as shown below. The 74LS04 contains 6 inverters so it is possible to convert all of the digital outputs with one IC. -
Page 16: Analog Output
The reference circuit below demonstrates interfacing a thermocouple to the X-MCC. Depending on the application, an offset voltage may need to be provided. Analog Output The analog output channel on the X-MCC is non-isolated, and has a range of 0 to 10 V. The output impedance of the line is 100 Ω. -
Page 17: Troubleshooting X-Series Motion Devices
braking system to ensure that the load is safely stopped during an E-stop event. All safety features must be tested in controlled, non-dangerous situations to ensure they will work properly during a real E-stop event. The X-MCC ships with a shorting bar across all four interface pins to disable the E-stop by default and allow normal motor operation. -
Page 18: Unexpected Behaviour
Blue LED flashing during a move or blinking every two seconds. The device has slipped or stalled. Please see the Slipping and Stalling section below. Blue LED showing a burst of 2 flashes every 1 second A stationary device has been forced out of position. Blue LED showing a burst of 5 flashes every 2 seconds. -
Page 19: Warranty And Repair
Send a driver enable command. The device does not require homing. Communication Errors There is no communication with the device; the Yellow LED does not come on or flash. There are several things that should be checked: 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. -
Page 20: Email Updates
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 21 In this example there are two serial ports available (COM1 and COM15), which are both USB adaptors. 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...
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Page 22: Appendix B - Usb Driver Installation
There may be other devices that match this query, such as keyboards or some web cameras. To determine which one corresponds to your USB serial cable, try repeating the command with and without the cable connected to the computer, to see which one appears and disappears. Appendix B - USB Driver Installation Compatible Devices The following Zaber controllers include a USB 2.0 Type-B port:... - Page 23 3. Right click on this entry and select 'Update Driver'. 4. Choose 'Browse my computer for driver software'. 5. Click the Browse button and select the location where you extracted the driver to.
- Page 24 6. Click Next. 7. Click Install. 8. Click Close. Your controller is now available and should appear in the 'Ports (COM & LPT)' section of the Device Manager. Windows Vista, 7 & 8 1. Windows will detect the device connection and attempt to automatically install drivers. After a minute or so this will fail with a message that the device is not working correctly.
- Page 25 5. Choose 'Browse my computer for driver software'. 6. Click the Browse button and select the location where you extracted the driver to. 7. Click Next.
- Page 26 8. Click Install. 9. Click Close. Your controller is now available and should appear in the Ports (COM & LPT) section of the Device Manager. 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.
- Page 27 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.
- Page 28 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. Linux USB Communications Device Class (CDC) devices are supported in kernel 2.4 and above through cdc_acm module.
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Page 29: Product Drawings
[94929.686563] usb 3-4.1.3: New USB device found, idVendor=2939, idProduct=cafe [94929.686572] usb 3-4.1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [94929.686577] usb 3-4.1.3: Product: X-MCB2 [94929.686581] usb 3-4.1.3: Manufacturer: Zaber Technologies Inc. [94929.686585] usb 3-4.1.3: SerialNumber: 1 [94929.687436] cdc_acm 3-4.1.3:1.0: This device cannot do calls on its own. It is not a modem. [94929.687471] cdc_acm 3-4.1.3:1.0: ttyACM0: USB ACM device If the device does not appear in the /dev directory when connected, the device may need to be manually attached. -
Page 32: Specifications
Specifications Specification Value Alternate Unit Communication Interface RS-232, USB 2.0 Communication Protocol Zaber ASCII (Default), Zaber Binary Maximum Current Draw Motor and supply voltage dependent mA Power Supply 24-48 VDC Power Plug 5.0 mm screw terminal Controller Maximum Current Per Phase 10 A peak Motor Connection D-Sub 26 female... - Page 33 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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