Zaber Technologies Inc. X-MCC Series User manual

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 peripheral.id (T:66) with the peripheral's ID number. See the Protocol
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 Zaber Technical Support
WARNING: Instant stopping of a moving axis through the axis knob or E-Stop may result in damage to the
peripheral product and reduced lifespan. Use sparingly if the axis is under heavy load.
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.

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.
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 Protocol Manual for more detailed information on the available commands.
Initial Set-up
1. Connect peripheral(s) to the desired axes of your X-MCC, while unpowered.
2. Daisy chain all integrated devices and controllers together using the RS-232 "Prev" and "Next" connectors
(see Daisy-Chaining Devices for more details).
3. Next, supply power to one or more devices. Many products share power through the daisy-chain cables.
The green power indicator on each should light up.
4. Download and install Zaber Console. Start Zaber Console and ensure that in the Options tab, the "Update
position and peripheral connection status" checkbox is checked (turned on).
5. Select the communications port the first controller is connected to. For instructions on how to find the
available communication ports on your system, please refer to: Appendix A - Available Communications
Ports.
6. If multiple devices are detected, Zaber Console may prompt you to renumber them. The first device in the
chain (closest to the computer) will become Device 1, the next will become Device 2, and so on.
7. When the communications port is open, Zaber Console will show an icon next to the peripheral name for
each axis, to indicate the connection status. See the Activating Peripherals section for additional
information.
Icon Connection Status
No peripheral is currently detected or the peripheral.id of the axis is not set.
To activate a -T3 or -T4 peripheral, type its peripheral ID in the field. The
Peripheral ID for a Zaber peripheral can be found on its label as the PID.
Alternatively a full list of Peripheral IDs can be found at: Zaber Support -
Peripheral IDs.
The peripheral is configured and active.
The X-MCC detected that a peripheral was disconnected, or that a different
peripheral was previously configured on this axis. If the peripheral became
unplugged, remove power from the controller and plug the peripheral back in.
Activate the peripheral if necessary, using the button beside its name.

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.
Initialization
Always connect peripherals to the controller when the controller is not powered. Peripherals should not be
connected or disconnected while the controller is powered on.
Every time the controller is powered up or reset, you should return the motorized peripheral(s) to the home position.
This is achieved by sending the home command to the individual device or all devices. Until this is done, most
devices will only allow motion in one direction, towards the sensor.
On stepper motor peripherals, a park command can be used to allow the device to be turned off and then used at a
later time without the need to home the axis. See the tools parking command for details.
Using the Device
Several commonly used ASCII commands are shown below. For a full list of available commands, please refer to
the Protocol Manual.
Command Description
/1 1 get pos Query the current position of Device #1 Axis #1.
/1 1 move abs 10000 Move Device #1, Axis #1 to position 10000 increments.
/2 1 move rel -12800 Move Device #2, Axis #1 in the negative direction by 12800 increments.
/1 stop Decelerate and stop ALL axes on Device 1.
An axis number of 0 or no axis number implies all axes on the device, or the device
itself.
/move vel 153600 Move ALL devices and ALL axes in the positive direction at the speed 153600.
A device address of 0 or no device address implies all devices in the chain.
Modifying Device Settings
Here are some examples if you would like to customize particular device settings. Refer to the Protocol Manual for
detailed descriptions of each setting.
Command Description
/1 set maxspeed 100000 Set the speed of all axes on the device.
/1 get maxspeed Query the maximum speed of the axis.
/1 system restore Restore all the settings of Device 1 to the default.
Activating Peripherals
Important: The X-MCC should always be powered down before disconnecting or connecting a peripheral
device.

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.
When an auto-detect peripheral is connected and the axis status LED is fading yellow, the peripheral has
been detected, but needs to be activated.
oIf you are sure that you want to activate a new peripheral on this axis, either use the Activate button
near the peripheral name in Zaber Console or send the activate command to the axis.
oIf you have swapped axes unintentionally, remove power, disconnect the current peripheral and then
reconnect the desired peripheral instead. Any custom settings for the original peripheral will still be
maintained.
The X-MCC is also compatible with many peripherals that do not have the Auto Detect feature. These are
configured quickly by setting the peripheral.id. Peripherals without the Auto Detect feature do not have an “A” at the
end of the product name, for example "LAC10A-T4".
Once the peripheral ID is configured properly, activate the peripheral either with the Activate button near the
peripheral name in Zaber Console or by issuing the activate command to the axis.
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
Device Overview
Connectors
All images are shown looking into the device.
Power
PinDescription
1 24 - 48 V
2 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. If for any reason you are using an isolated power supply, please ensure your
device is grounded by connecting the negative terminal of the power connector to AC Earth.
Multiple Power Supplies: The X-MCC controller can have multiple power supplies connected (1 per available
axis). If not all available axes are supplied directly with power, power is shared between axes. If you wish to use
both 48 V and 24 V power supplies for different axes, ensure all axes to be supplied with 24 V are directly powered.
RS-232 Communications
Pin Previous Next
1 Power Power

2 Ground Ground
3 Receive Transmit
4 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
Female High Density D-Sub26 Connector
Sensor and 3 Amp Motor Interface
Pin Description
1 Auto Detect Clock
2 Auto Detect Data
3 C Limit Sensor
4 Away Limit Sensor
5 Home Limit Sensor
6 Motor Over-Temperature
7 Ground
8 Motor A2 / Motor V
9 Motor A1 / Motor U
10 Differential Encoder A+
11 Differential Encoder B+
12 Differential Encoder Index+
13 Differential Encoder Error
14 Single-ended Encoder Index
15 +5 V
16 Ground
17 Reserved
18 Motor B1 / Motor W
19 Differential Encoder A-
20 Differential Encoder B-
21 Differential Encoder Index-
22 Single-ended Encoder A
23 Single-ended Encoder B
24 Reserved
25 Reserved
26 Motor A2
NOTE: The limit sensor inputs are pulled up to an internal supply rail and are designed to be designed to be low by
an open collector.
NOTE: All single-ended encoder inputs are non-isolated 5 V TTL lines.

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
Female T-Coded M12 Connector
6 Amp Motor Interface
PinStepper Motor
Connection
Three Phase Motor
Connection
1 Motor A2 Phase V
2 Motor A1 Phase U
3 Motor B2 N/C
4 Motor B1 Phase W
NOTE: If using this connector, the four motor pins on the Sensor and 3 Amp Motor Interface must not be used.
E-Stop
Pin Description
1 E-Stop Power (12-48 V)
2 E-Stop Ground
3 E-Stop Override Input
4 E-Stop Override Ground
E-Stop power inputs are optically isolated, but E-Stop override inputs are not. For details on using the E-Stop,
please refer to the dedicated Emergency Stop section.
USB Communications
Specifications
USB 2.0 Full Speed
Communications Device Class, Abstract Control Model
Default Protocol: Zaber ASCII
Supported Protocols: Zaber ASCII, Zaber Binary
Digital Inputs/Outputs
Pin Description
1 Digital In 1
2 Digital In 2
3 Digital In 3
4 Digital In 4
5 Digital In Common
6 Digital Out 1

7 Digital Out 2
8 Digital Out 3
9 Digital Out 4
10 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
Examples (Digital Inputs) section.
Mating Products
TE Connectivity 284506-5 or 1986692-5
Analog Inputs/Output
Pin Description
1 +5 V
2 Ground
3 Analog In 1
4 Analog In 2
5 Analog In 3
6 Analog In 4
7 Ground
8 Analog Output
Analog Input Specifications Equivalent circuit
Absolute Maximum Input Range (per pin): 0 - 12.8 V
Nominal Input Range (per pin): 0 - 10.0 V
Resolution: 0.001 V
Analog Output Specifications Equivalent circuit
Analog Output Range: 0 - 10 V
Resolution: 2.5 mV
Output Impedance: 100 Ω
+5 V Output
The +5 V and GND connections can provide power for low-current I/O applications. The pins can source up to 200
mA of current. If additional current is needed, an external power supply is required. Note that this output is not
isolated.

Mating Products
TE Connectivity 284506-8 or 1986692-8
External Regenerative Braking Resistor
Pin Description
1 External Regen +
2 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. During overvoltage transients this voltage may rise to 65 V.
The X-MCC is equipped with an internal regen resistor to assist with energy dissipation during heavy braking events
under load. If the braking power in the regen resistor is insufficient, the controller's bus voltage may rise to
excessive levels and the controller will be forced to disable the driver. For a single axis under heavy load or multiple
axes under moderate load, the internal resistor is usually sufficient to dissipate the generated electrical energy.
For applications with high loads, fast decelerations, and/or multiple axes, an external regen resistor may be required
for extra dissipation capacity. In these cases, a resistor rated for 5 Ω and 300 Watts should be connected to the two
terminals provided. The required regenerative power for a trapezoidal trajectory may be approximated as 3*m*v*a,
where mis the moving mass including the stage top, vis the maximum trajectory velocity and ais the deceleration
setting. Please consult Zaber Technical Support to determine if your application may benefit from the addition of an
external regen resistor.
Chassis Connection
No portion of the controller operates at voltages exceeding 50 VDC, so the controller is considered a low voltage
device and does not need to be explicitly connected to Earth for safe operation. Additionally, Zaber's PS11-PS15
power supplies are non-isolated, thereby already providing a connection from the Ground pin of the power input to
Earth. However, if the controller is supplied by an isolated power supply, it may be desirable to ground the metal
housing. Signal integrity or application specific safety considerations may also make it desirable to connect the X-
MCC's metal frame to the Earth connection shared by the rest of the apparatus. For making grounding connections
to the X-MCC frame, attach a 4 mm or 3/16” ring terminal to the provided 4 mm machine screw as shown below.

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. Please contact Zaber Technical Support.
Yellow (Master) - Communication
On: Device is moving, or data is being transferred.
Blinking twice per second: Packet corruption has occurred for ASCII commands sent with a checksum.
Yellow (Axis) - Axis Status
On: Peripheral actuator is moving.
Blinking: Device is under manual control via the knob (in Velocity mode). The blinking rate is proportional to
movement speed.
Fading in and out every 2 seconds: A connected auto-detect peripheral is awaiting activation.
Blue (Axis) - Axis Warning/Error
Solid: Peripheral is deactivated.
Blinking twice per second: Driver is disabled due to over-temperature, out-of-range voltage or other driver
fault; due to user request; or due to E-Stop. See Fx Warning Flags. This will also occur briefly when a
peripheral is plugged back into the axis after being unplugged.
On briefly, during a move: The device is slipping.
Blinking once every 2 seconds: The device has stalled and stopped.
Burst of 2 flashes every 1 second: The stationary device has been forced out of position.
Burst of 5 flashes every 2 seconds: The encoder has encountered a read error and raised the FQ or FA
Warning Flag.
Communications
The X-MCC supports multiple communications interfaces and processes commands through the currently active
interface, which is determined by the interface priorities. Enabling or connecting a higher priority interface will cause
any commands received over the lower priority interface(s) to be ignored.
Interface Priority
1. USB
2. RS232
Daisy Chaining
Daisy Chaining is supported from USB to RS232 Next and RS232 Prev to RS232 Next.
Installation
The X-MCC can be connected to a computer as follows:
1. Connect the controller to the computer with a USB cable (U-DC06), and install the appropriate USB driver
(see Appendix B for instructions). You may need to use a cable extension to reach your computer. There is
no need to power down or reboot the computer.
2. Connect one or more peripherals to the X-MCC controller using the recommended cables. See the Quick
Tutorial for more information.
3. Connect the power plug of your power supply to the power connector of the device. The green LED should
light up indicating the device has power.
4. Additional devices can simply be daisy-chained to the first. See Daisy-Chaining Devices below.
5. Install software from the Software page. For the initial setup, using Zaber Console is recommended.

As a simple first test, try entering:
/renumber
/1 home
/1 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" tab. The increment size
(default resolution) will be shown in the list of product specs either in the "Group Specifications" section or the
"Comparison" section.
Daisy-Chaining Devices
Multiple devices can be connected together in a chain through the Prev and Next connectors. This allows any
number of devices to be controlled from a single connection to a computer, reducing cabling demands. In addition,
X-Series devices carry power through the daisy chain, so in most cases a power supply only needs to be connected
to one device in the chain. Whenever a device is added or removed from a chain, a renumber command should be
sent to prevent device-address conflicts.
To daisy-chain X-Series devices with A-Series devices:
Ensure all devices are set to the same baud rate and the A-Series devices are using the ASCII
communication protocol before connecting them.
Connect any X-Series devices at the start of the chain (closest to the computer). This configuration will
reduce the number of adaptor cables required.

Connect a T-XDC (or 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
series.
Physical Installation
The X-MCC is designed to mount to 25mm or 1" pitch optical breadboards using M6 or 1/4" screws, respectively, or
for use on a desk or table.
Breadboard mounting controller orientation.
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.
To apply the feet, peel each from the protective backing and place them firmly in the corners on the underside of the
unit.
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. 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 setting.

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). 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 and knob.maxspeed settings. The device stops and resets the knob upon arriving at the end
of travel.
Displacement Mode
Turn the knob clockwise to move the device in the positive direction (extend), counter-clockwise for negative
direction (retract). Each detent of the knob moves the device a fixed number of move increments, specified by
the knob.distance setting. If knob.distance is set to 0, each detent of the knob will move to the next index position,
similar to move index movements. The device moves at the speed specified by the maxspeed setting, or the slower
of maxspeed and limit.approach.maxspeed if the device has not been homed. If there are fewer
than knob.distance move increments to the end of travel and another move is requested, the device will move to the
end of travel and then stop.
Summary of knob functionality
Turning the knob:
Moves the device in the direction of knob turn.
Pressing the knob:
Decelerates and stops the device (identical to a stop command).
Instantly stops the axis, if the axis is already decelerating.
Warning: Stopping instantly may result in damage to the product and reduced lifespan. Use sparingly if the
axis is under heavy load.
Pressing and holding the knob for 1 second:
Toggles between Velocity Mode and Displacement Mode.
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. 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 and limit.max settings to appropriate values. For the Current Position,
query pos.
Minimum Position
When the Current Position is less than the Minimum Position value, the device cannot move in the negative
direction.
Maximum Position
When the Current Position is greater than the Maximum Position value, the device cannot move in the
positive direction.
Movement Speed

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
the limit.home.triggered setting.
Movement speed of the device is specified below:
move vel
The device will move at the specified speed regardless of home status.
Knob movement in Velocity Mode
The device will move at the specified speed regardless of home status.
The speed is specified by the knob.speedprofile and knob.maxspeed settings.
Other movement commands - when the device has not been homed
The device will move at the slower of the maxspeed and limit.approach.maxspeed settings.
Other movement commands - when the device has been homed
The device will move at the speed specified by the maxspeed setting.
I/O Usage and Examples
The X-MCC 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-MCC 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 +5 V 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.
Digital Inputs
The digital inputs on the X-MCC are fully opto-isolated and bi-directional, giving added flexibility when interfacing to
external equipment. The two examples below demonstrate how the common line can be connected to a power rail
or to ground, depending on the application.
Each digital input contains an internal current limiting resistor of 442 ohms. While this value is suitable for driving
the inputs with 5 V (as shown in the circuit above), higher voltages will require the addition of a series resistor. A list
of recommended values for the external resistor and example circuit are shown below.

V_SUPP (V) R_EXT (Ohms) Power (mW)
0 - 8 0 n/a
8 - 15 500 125
15 - 24 1500 250
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
The first command queries all inputs on the device and shows that input 3 is "active" (not equal to the common line)
and all others are "inactive" (equal to the common line). Depending on whether your common line is connected to
ground or a positive voltage, "active" might mean a high or a low voltage level. The second command queries a
specific input on the device, in this case input 1, which is "inactive".
Digital Outputs
All digital outputs on the X-MCC are fully optoisolated and capable of sinking 15 mA each at up to 50 V. 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.
The digital outputs are set through the io set command, as shown below.
/1 io set do 1 1
@01 0 OK IDLE – 0
/1 io set do 1 0
@01 0 OK IDLE – 0

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. In order to maintain
isolation, it is recommended that the 5 V and GND supply connections come from the device requiring the TTL
signalling. It is, however, possible to use the 5 V and GND connections from the Analog Output connector on the X-
MCC to power the external device, as long as the current limits are adhered to.
Analog Inputs
The analog inputs on the X-MCC accept and display voltages in the range of 0 – 10 V. In order to measure other
analog variables, a transducer or sensor is required that outputs an appropriate voltage range. As transducers
typically provide low voltage signals, an amplifier and buffer circuit is required to interface a transducer to the X-
MCC.
The reference circuit below demonstrates how to connect a wheatstone bridge to one of the analog inputs on the X-
MCC. Various instruments are configured in a wheatstone bridge arragement, including load-cells and strain
guages.
R_GAIN's value should be chosen so that a positive full scale of the instrument produces 10 V at the analog input of
the X-MCC and a negative full scale produces 0 V. The OP97 op-amp provides an offset of 5 V to the amplified
value so that no load on the instrument produces an output of 5 V.

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.
The nominal analog output resolution is 2.49755859 mV, and the requested value should be specified in Volts with
up to three decimal places. The actual output will be set to the nearest resolution increment, rounded down. The
analog output is set through the io set command, as shown below.
/1 io set ao 1 4.625
@01 0 OK IDLE -- 0
/1 io get ao 1
@01 0 OK IDLE -- 4.622
The first command requests the first and only analog output (AO) channel to be set to 4.625 V. The second
command queries the set point of the first analog output channel, and returns the set point floored to three decimal
places.
Emergency Stop
The X-MCC is equipped with an optional 4 pin Emergency Stop input.
A voltage between 12-24 V must always be applied to the two E-stop power inputs. When the E-stop input is de-
energized, the X-MCC produces a Safe Torque Off (STO) response on all motion axes. STO is characterized by
removing power from the motor (ie. disabling the driver) and allowing the positioner to coast to an uncontrolled stop.
The controller will still be active in this state and remain responsive to queries and commands. The motor will
remain unpowered until the E-stop input is re-energized and the driver is re-enabled with a driver enable command.
WARNING: Safe Torque Off is not recommended for all usage cases since an uncontrolled, unpowered stop may
result in unsafe behavior.
It is the user’s responsibility to evaluate the safety of their overall application and put in place the correct safety
features. For example, applications with high speeds or heavy loads or vertical motion may require an external

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. To use the E-stop circuit, first remove the shorting bar and then wire a DC power supply with a
voltage of between 12 V and 48 V in series with a normally closed switch as shown below. The signal can be wired
in either polarity. Opening the switch will cause the E-stop to engage.
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 on most devices using the following steps.
Note that this will reset most settings.
1. Power Off the device
2. Push and hold the knob for the first Axis (if applicable)
3. Power On the device
4. Continue to hold the knob in until the blue LED is lit (~5 seconds), then release.
The device has been returned to its factory defaults and can be configured as per the steps in Initial Setup.
Front Panel Indicators
Green LED on.
The device is powered on and is operating normally.
Green LED fades in and out (stepper motor peripherals only).
The device is parked.
Issue a tools parking unpark command, or home the device.
Green LED flashes slowly.
The operating conditions of the device are outside of the recommended range.
This will occur when the supply voltage is either over or under the recommended range or the controller
temperature has exceeded the set limit. Check the following:
The input voltage is within the operational range of the device. This can be read from the device with
the get system.voltage command.
The device temperature is within range. This can be read from the device with the get
system.temperature command.
Green LED off.
The device is not powered.
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.
Yellow LED fading in and out.
A peripheral is awaiting activation.
Please see the Activating Peripherals section.

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.
The encoder has encountered a read error.
Please contact Zaber Technical Support.
Blue LED blinking twice per second. Device does not move.
Driver may be disabled due to over-temperature, out-of-range voltage or other driver fault; or due to user
request.
See Fx Warning Flags.
Once the issue has been resolved, send driver enable.
This will also occur briefly when a peripheral is plugged back into the axis after being unplugged.
Manual Control
Turning the knob either way results in no movement.
The knob may have been disabled.
Check that the knob.enable setting is correct.
Restore the default parameters through the system restore command.
The device won't cover the full range of travel.
The device hasn't been homed.
Turn the knob anti-clockwise until the device reaches the fully retracted position. The device will home and
the full range of travel available.
Unexpected Behaviour
The device doesn't respond to a move command.
The device may need to be homed before use.
Send the home command.
A peripheral won’t move and move commands are rejected.
The peripheral may have been unplugged and plugged back in to the wrong axis. Send
the activate command the peripheral to continue using it.
The device is moving on its own and running against the ends of travel.
The position encoder has de-synchronized.
Reset the device by power cycling it or sending the system reset command, then re-initialize it with
the home command.
The device is moving very slowly. It used to move faster.
The speed settings may have been changed inadvertently.
Send a system restore command.
The device makes louder than normal noise during travel and is frequently slipping.
This condition happens if the thrust needed is more than the thrust available from the device.
Check the following:
The force on the device is less than the maximum thrust.
The voltage matches the specified voltage. Read the voltage using the get
system.voltage command. Voltage less than the specified voltage for the device will reduce the
device’s maximum thrust.
Test the following:
Try a slower target velocity.
Try a lower acceleration and deceleration.
Clean the screw and lightly re-grease it with a grease that does not degrade plastics.
A stepper motor peripheral 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.
Please contact Zaber Technical Support.
The device doesn't cover the full range of travel, or runs into the end.
A setting might have been inadvertently changed.
home the device to see if this corrects the behaviour.
Send a system restore command.
Ensure that the peripheralID setting of each axis corresponds to the attached device. A list of
peripheral ids are available at the Peripheral IDs page.
The device's motor unexpectedly shuts off. An Fx warning flag is present.
The motor over-temperature protection switch has been tripped. This sensor will trip if the device's
maximum continuous thrust specification is exceeded for too long. To prevent this condition from occurring
again, reduce the average force that the motor outputs by reducing acceleration, reducing the load, or
lowering the duty cycle.

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. when configuring the serial communications
software. The required settings are listed in the RS-232 Communications section above.
Make sure there are no bent pins in the ends of all the data cables
Make sure the device is powered. The Green LED should be on.
If the computer is a laptop running on batteries, try plugging in the power. Some laptops disable the
serial ports when running on batteries.
Make sure a null modem adaptor or cable is not being used.
Make sure the correct adaptors(if any) are being used. Refer to the pinouts in the RS-232
Communications section above.
If the problem was encountered when trying to control the device with custom software, try using
one of the demo programs from the Zaber website to verify that the hardware is functioning properly.
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 command in the software you are using to set all of the device numbers to different values.
The Yellow LED comes on briefly when sending a command, but the device does not move and does not
reply.
Check baud rate, hand shaking, parity, stop bit, etc. are set as per the RS-232 Communications defaults.
The device numbers may not be what is expected, issue a renumber command. Make sure that the
computer does not transmit anything else while the devices renumber.
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.
Check the serial port settings are correct.
Check connectors for bent or broken pins.
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 command, then re-initialize it with the home command.
Ground the device and avoid operating it under statically noisy environment.
The device makes noise but does not move. The Blue LED is flashing.
The device is stalling.
Try removing all external loads. If the device now extends and retracts normally, the problem is excessive
load. Try to reduce the load and ensure the load is less than the maximum thrust. A higher thrust or torque
can be achieved by lowering the speed of the device using the maxspeed setting.
If a device is stalling with no external load at default speed and acceleration settings then it requires
servicing.
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. If you are not satisfied with your purchase, we will refund your payment minus any shipping
charges. Goods must be in brand new saleable condition with no marks. Zaber products are guaranteed for one
year. During this period Zaber will repair any products with faults due to manufacturing defects, free of charge.
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.
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. The specified RMA number must be included on the shipment to ensure timely processing.
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.
Contact Information
Contact Zaber Technologies Inc by any of the following methods:
Phone [phone] (direct)
1-888-276-8033 (toll free in North America)
Fax [phone]
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 https://www.zaber.com/manuals/X-MCC.
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.