Zaber Technologies Inc. VSR-E Series User manual

VSR-E Series User's Manual
Vertical lift stage with built-in motor encoders and 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
Zaber's Auto Detect peripheral devices are designed to be used effortlessly with Zaber's line of
Auto Detect controllers. The VSR-E includes onboard memory that allows Zaber's controllers to
auto-detect the model and set reasonable parameters. See the Protocol Manual for more
information on how to modify the settings. Damage to the device may result if the settings are not
correct. To use your Zaber peripheral with a third-party controller, review the motor, sensor, and
encoder specifications and pin-outs carefully.
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 lead screw thread.
These will reduce the performance of the device below stated specifications.
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 achieves the same result. For example,
move abs 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.
Device Overview
Connectors
Recommended controller(s) for your VSR-E peripheral are provided in the product specifications.
Zaber's controllers and peripherals are designed for ease of use when used together. Optimal
settings for each peripheral are automatically detected by Zaber's controllers when the device is
connected.
For reference, the pinout for the peripheral cable connectors is shown below:
Pinout for D-sub 15 Connectors (peripherals)
T3A Peripheral (male)
T4A Peripheral (male)
Pin #
Function
1
+5V for Limits & Encoder
2
Auto Detect Data
3
reserved
4
Away Sensor
5
Home Sensor
6
Ground
7
Motor B1
8
Motor A1
9
Auto Detect Clock
10
Encoder A

11
Encoder B
12
Encoder Index
13
Ground
14
Motor B2
15
Motor A2
Not all pins are used for all models
Alternate Controllers
The VSR-E can be controlled by any 2-phase stepper motor controller with limit sensorand
appropriate encoder input. We do not recommend using your own controller unless you are
familiar with how to control a stepper motor with hall sensor limit switches. Damage to the
stage due to incorrect wiring is not covered by warranty.
Motors & Encoders
For motor and encoder information see the VSR-E product page
Limit Sensors
Hall effect sensors are used in the VSR-E as home sensors. The Hall sensors used are part
number A1120LLHLT-T made by Allegro. Click here for data sheet. Your controller should be
configured so the stage stops immediately (quick deceleration) when the sensors are triggered.
PCB wire colour code:
o3.6-24 Vdc input - red
oHome signal - yellow
oAway signal - white
oGround - black
The Hall sensor has an open-collector output. The default output is high impedance when the Hall
sensor is not active. When the sensor detects a magnet, the Hall sensor pulls the output low to
ground.
If you are not using a Zaber controller, ensure that your controller has a pull-up resistor on the
output line of each Hall sensor as shown in the diagram. The bypass capacitor is optional, but
may help to eliminate false triggering in noisy environments. The typical value for the pull-up

resistor (RLOAD) is 10k and for the bypass capacitor is 0.1uF to 1uF. The larger the capacitance,
the better the noise filtering but the slower the response time.
Installation
VSR-E stages can be mounted using M6 screws to a standard metric breadboard, or to various
Zaber devices.
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
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 https://www.zaber.com/manuals/VSR-E.
Appendix A: Default Settings
Please see the Zaber Support Page for default settings for this device.
Product Drawing
Specifications
Specification
Value
Alternate Unit
Microstep
Size
(Default
Resolution)
0.09525
µm
Built
-
in
Controller
No

Specification
Value
Alternate Unit
Recommended
Controller
X
-
MCC
(48 V) Recommended
Travel
Range
20
mm
0.787
"
Accuracy
(unidirectional)
50
µm
0.001968
"
Loaded
Accuracy
(10
N)
35
µm
0.001378
"
Repeatability
<
1
µm
<
0.000039
"
Backlas
h
<
35
µm
<
0.001378
"
Loaded
Backlash
(10
N)
<
10
µm
<
0.000394
"
Maximum
Speed
55
mm/s
2.165
"/s
Minimum
Speed
0.000058
mm/s
0.000002
"/s
Speed
Resolution
0.000058
mm/s
0.000002
"/s
Encoder
Resolution
500
CPR
2000
states/rev
Encoder
Type
Rotary quadrature encoder
Peak
Thrust
200
N
44.9
lb
Maximum
Continuous
Thrust
100
N
22.4
lb
Maximum
Centered
Load
100
N
22.4
lb
Maximum Cantilever Load 300 N⋅cm 424.8 oz⋅in
Guide
Type
Ball Bearing
Horizontal
Runout
<
30
µm
<
0.001181
"
Pitch
0.12
°
2.094
mrad
Roll
0.12
°
2.094
mrad
Linear
Motion
Per
Motor
Rev
1.2192
mm
0.048
"
Motor
Steps
Per
Rev
200
Motor
Type
Stepper (2 phase)
Motor
Rated
Current
1500
mA/phase
Inductance
2.2
mH/phase
Motor
Connection
D
-
sub 15
Default
Resolution
1/64
of a step
Mechanical
Drive
System
Precision Lead Screw
Limit
or
Home
Sensing
Magnetic home
sensor
Axes
of
Motion
1
Mounting
Interface
M6 and M3 threaded holes
Operating
Temperature
Range
0
-
50
°C
Vacuum
Compatible
No
RoHS
Compliant
Yes
CE
Compliant
Yes
Weight
0.57
kg
1.257
lb
Charts and Notes

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.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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.
This product uses the LZ4 compression library. LZ4 is © 2011–2016 Yann Collet and is governed
by the following license:
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following
conditions are met:
Redistributions of source code must retain the above copyright notice, this list of conditions and the following
disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS
OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 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.