Zaber X-LRQ-DEC Series User Manual

High precision stages with built-in controllers and linear encoders and dust covers

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X-LRQ-DEC Series User's Manual
High precision stages with built-in controllers and linear encoders and dust covers
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
Zaber's motion control devices are precision instruments and must be handled with care. In
particular, moving parts must be treated with care. Avoid axial loads in excess of the rated thrust
load, axial and radial impact, dust and other contaminants and damage to the drive components.
These will reduce the performance of the device below stated specifications.
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. At the rated load of the device, it is
recommended to re-lubricate each bearing block on the linear guide at a 500 km service interval. We
recommend using 0.2 cm³ per bearing block of a NLGI Grade 2, lithium soap based grease. The
grease ports are located on the motor end of the carriage (see pictures below). Simply remove the
screw plugs using a 2.5 mm hex key and inject about 0.2 cm³ of grease into each port. Cycle the
stage through its travel several times and wipe off any excess grease from the rails. All guides come
pre-lubricated and are ready to go out of the box.
This grease is only intended for lubricating ball bearing guide, and is not suitable for use on the lead
screw or any other locations on the stage.

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Summary of Contents for Zaber X-LRQ-DEC Series

  • Page 1 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 Zaber’s motion control devices are precision instruments and must be handled with care.
  • Page 2: Conventions Used Throughout This Document

    10000 (T:20:10000) shows that a move abs ASCII command can also be achieved with Binary command number 20. Not all ASCII commands have an equivalent Binary counterpart. 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...
  • Page 3 Appendix A - Available Communications Ports. 6. If multiple devices are detected, Zaber Console may prompt you to renumber (T:2) them. The first device in the chain (closest to the computer) will become Device 1, the next will become Device 2, and so on.
  • Page 4: Device Overview

    (T:36) Restore all the settings of Device 1 to the default. Firmware Updates In order to allow access to new features and bug fixes, this Zaber device can be updated remotely through Zaber Console. Follow instructions here to update: www.zaber.com/FirmwareUpdate...
  • Page 5: Installation

    Baud rate: 115200 Protocol: Zaber ASCII Specifications Supported Protocols: Zaber ASCII, Zaber Binary Supported baud rates: 9600, 19200, 38400, 57600, 115200 Bits: 8 Parity: None Stop Bits: 1 Flow Control: None Indicators Green - Power On: Controller is operational. Blinking twice per second: The power supply voltage or controller temperature is out of range.
  • Page 6 As a simple first test, try entering: /renumber (T:2) home (T:1) move rel 10000 (T:21:10000) The parameter of 10000 in the move command above specifies 10000 microsteps. To see the microstep size (default resolution) for the device and how it translates to displacement, first go to product overview page, find your device, click through to the device's webpage, and click on the "Series Specs"...
  • Page 7 X-Series device in the chain, and to the Prev port of the T-Series or A-Series device. Power supplied to an X-Series device will not be transmitted to any T-Series or A-Series devices in the chain. Contact Zaber Technical Support for assistance selecting connecting cables when daisy-chaining multiple series. Physical Installation The X-LRQ-DEC stage has two sets of mounting features that are acceptable means of fastening the stage to a structure.
  • Page 8 Move the stage at least 50mm away from one end of the LRQ base and feed the LRQ Dust Cover Shim in from one side. Use a business card as a ramp to help guide the shim over the first rise and under the second.
  • Page 9: Manual Control

    When properly tensioned, the LRQ Dust Cover Shim should sit below the lid mounting ledge as indicated and should still have a slight bend. The LRQ Dust Cover Shim should be low enough that it does not contact the bottom of the LRQ Dust Cover Adapter Lid when installed, but it should not be so tight that it increases the drag of the stage.
  • Page 10: Trajectory Control And Behaviour

    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. On power-up, many devices will only travel towards the motor from their start-up positions until the home position is reached.
  • Page 11: Troubleshooting X-Series Motion Devices

    range is desired, it can be changed by configuring the limit.min (T:106) and limit.max (T:44) settings to appropriate values. For the Current Position, query (T:60). Minimum Position When the Current Position is less than the Minimum Position value, the device cannot move in the negative direction(towards the motor).
  • Page 12 Check the supply connections and power adaptor for correct operation. Red LED on or flashing. A critical error has occurred. Please contact Zaber Technical Support. Yellow LED always off or flashes but no reply. There are communication errors. Please see the Communication Errors section below.
  • Page 13 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,...
  • Page 14 (T:36) command. If the problem is encountered when trying to control the device with custom software: Use a demo program from the Zaber website to verify that the hardware is functioning properly. Make sure that the receiving part of the code or commercial package is correct.
  • Page 15: Warranty And Repair

    How to return products Customers with devices in need of return or repair should contact Zaber to obtain an RMA form which must be filled out and sent back to us to receive an RMA number. The RMA form contains instructions for packing and returning the device.
  • Page 16: Appendix A - Available Communications Ports

    Appendix A - Available Communications Ports Finding Installed Serial Ports 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. In this example there are two serial ports available (COM1 and COM15), which are both USB adaptors.
  • Page 17: Product Drawings

    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 19: Specifications

    Built-in Controller Encoder Type Linear quadrature encoder Encoder Resolution 50 nm Communication Interface RS-232 Communication Protocol Zaber ASCII (Default), Zaber Binary Maximum Centered Load 1000 N 224.3 lb Maximum Cantilever Load 3000 N⋅cm 4248.4 oz⋅in Guide Type Recirculating Ball Linear Guide Stiffness in Pitch 640 N⋅m/°...
  • Page 20 Microstep Size Accuracy Part Number (Default Resolution) Travel Range (unidirectional) Repeatability X-LRQ300AL-DE51C 0.09921875 µm 300 mm 10 µm (0.000394 ") < 2.5 µm (11.811 ") (< 0.000098 ") X-LRQ300BL-DE51C 0.49609375 µm 300 mm 13 µm (0.000512 ") < 3.5 µm (11.811 ") (<...
  • Page 21 Microstep Size Accuracy Part Number (Default Resolution) Travel Range (unidirectional) Repeatability X-LRQ600HP-DE51C 0.1953125 µm 600 mm 13 µm (0.000512 ") < 3 µm (23.622 ") (< 0.000118 ") Part Number Backlash Maximum Speed Minimum Speed Speed Resolution X-LRQ075AL-DE51C < 5 µm 40 mm/s 0.000061 mm/s 0.000061 mm/s...
  • Page 22 Part Number Backlash Maximum Speed Minimum Speed Speed Resolution X-LRQ300BP-DE51C < 6.5 µm 205 mm/s 0.000303 mm/s 0.000303 mm/s (< 0.000256 ") (8.071 "/s) (0.000012 "/s) (0.000012 "/s) X-LRQ300HP-DE51C < 6.5 µm 100 mm/s 0.000119 mm/s 0.000119 mm/s (< 0.000256 ") (3.937 "/s) (0.000005 "/s) (0.000005 "/s)
  • Page 23 Back-driving Maximum Part Number Peak Thrust Force Continuous Thrust Vertical Runout X-LRQ075AP-DE51C 110 N (24.7 lb) Non-back-driving 100 N (22.4 lb) < 20 µm (< 0.000787 ") X-LRQ075BP-DE51C 100 N (22.4 lb) 136 N (30.5 lb) 100 N (22.4 lb) <...
  • Page 24 Part Number Horizontal Runout Pitch Roll X-LRQ300HL-DE51C < 30 µm 0.034 ° 0.015 ° 0.03 ° (< 0.001181 ") (0.593 mrad) (0.262 mrad) (0.523 mrad) X-LRQ450AL-DE51C < 40 µm 0.04 ° 0.025 ° 0.04 ° (< 0.001575 ") (0.698 mrad) (0.436 mrad) (0.698 mrad) X-LRQ450BL-DE51C <...
  • Page 25 Linear Motion Per Mechanical Drive Part Number Motor Rev System Weight X-LRQ075HL-DE51C 2.5 mm (0.098 ") Precision ball screw 2.51 kg (5.534 lb) X-LRQ150AL-DE51C 1.27 mm (0.050 ") Precision lead screw 2.93 kg (6.460 lb) X-LRQ150BL-DE51C 6.35 mm (0.250 ") Precision lead screw 2.93 kg (6.460 lb) X-LRQ150HL-DE51C...
  • Page 28 This product uses the FreeRTOS kernel. FreeRTOS is © 2020 Amazon.com, Inc. or its affiliates and is governed by the following license: All rights reserved.
  • Page 29 LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Zaber Technologies uses cookies to optimize and enhance the features and content on our website. By continuing to use this website, you consent to our use of cookies.

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