Zaber X-VSR Series User manual

X-VSR Series User's Manual
Vertical lift stages with built-in controllers
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.
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.
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. Daisy chain all integrated devices and controllers together using the RS-232 "Prev" and
"Next" connectors (see Daisy-Chaining Devices for more details).
2. 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.
3. Turn the knob to move a device. Most devices will only move in one direction until they reach
a home sensor at one limit of travel. Then they will move in both directions over full travel.
4. Download and install Zaber Console. Start Zaber Console.
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 (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.
Initialization
Every time the device is powered up or reset, the device should be returned to the home position.
This is achieved by sending the home (T:1) command to the individual device or all devices. Until
this is done, most devices will only allow motion in one direction, towards the sensor.

If it is not possible in your application to home the device after every power-up, see the tools
parking (T:65) command. Parking allows the device to be turned off and then used at a later time
without first having to home the axes.
Using the Device
Several commonly used ASCII commands and their Binary equivalents, are shown below. For a
full list of available commands, please refer to the Protocol Manual.
Command
Description
/1 1 get
pos
(
T:60
)
Query the current position of Device #1 Axis #1.
/1 1 move abs 10000
(
T:20:10000
)
Move Device #1, Axis #1 to position 10000 microsteps.
/2 1 move rel -12800 (T:21:-
12800
)
Move Device #2, Axis #1 in the negative direction by 12800
microsteps.
/1 stop (T:23)
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
(T:22:153600)
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
(
T:42:100000
)
Set the speed of all axes on the device.
/1 get
maxspeed
(
T:53:42
)
Query the maximum speed
of the axis.
/1
system restore
(
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
Device Overview
Connectors
All images are shown looking into the device.
Power
Pin
Description

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.
RS-232 Communications
P
in
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, 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.
Fading in and out slowly: The device is parked. See the tools parking (T:65) command.
Red - System Error
On/blinking: An error has occurred. Please contact Zaber Technical Support.
Yellow - Communication/Busy

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 twice per second: Packet corruption has occurred for ASCII commands sent with a
checksum.
Blue - Warning/Error
Blinking twice per second: Driver is disabled due to over-temperature, out-of-range voltage
or other driver fault; or due to user request. See Fx Warning Flags.
Installation
The X-VSR can be connected to a computer as follows:
1. Plug the M8 to USB adaptor (X-USBDC) into one of your computer's USB ports, then attach
the device to the adaptor. 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 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.
3. Additional devices can simply be daisy-chained to the first. See Daisy-Chaining Devices
below.
4. Install software from the Software page. For the initial setup, using Zaber Console is
recommended.
As a simple first test, try entering:
/renumber (T:2)
/1 home (T:1)
/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

the product overview page, find your device, click through to the device's webpage, and click on
the "Series Specs" tab. The microstep 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 (T:2) command should be sent to prevent
device-address conflicts.
To daisy-chain X-Series devices with T-Series and A-Series devices:
Ensure all devices are set to the same communication protocol and baud rate before
connecting them. If any T-Series devices will be in the chain, then the communication
protocol must be Binary at 9600 baud rate.
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 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.
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 (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. 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 (T:112) and knob.maxspeed (T:111) 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
microsteps, specified by the knob.distance (T:110) setting. If knob.distance (T:110) is set to 0,
each detent of the knob will move to the next index position, similar to move index (T:78)
movements. The device moves at the speed specified by the maxspeed (T:42) setting, or the
slower of maxspeed (T:42) and limit.approach.maxspeed (T:41) if the device has not been
homed. If there are fewer than knob.distance (T:110) microsteps 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 (T:23) command).
Instantly stops the device, if the device 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.
The factory settings for the devices are configured 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. For the Current Position, query pos (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).
Maximum Position
When the Current Position is greater than the Maximum Position value, the device cannot
move in the positive direction(towards the motor).
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 (T:1) 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(T:53:103) setting.
Movement speed of the device is specified below:
move vel (T:22)
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 (T:112) and knob.maxspeed (T:111) settings.
Other movement commands - when the device has not been homed
The device will move at the slower of the maxspeed (T:42) and
limit.approach.maxspeed (T:41) settings.
Other movement commands - when the device has been homed
The device will move at the speed specified by the maxspeed (T:42) setting.
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. 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.
The device is parked.
Issue a tools parking unpark(T:65:0) command, or home (T:1) 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.
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.
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.
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 (T:1) command.
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 (T:0) command, then re-
initialize it with the home (T:1) command.
The device is moving very slowly. It used to move faster.
The speed settings may have been changed inadvertently.
Send a system restore (T:36) 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. Stepper motors produce more thrust when moving slowly.
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.
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 (T:1) the device to see if this corrects the behaviour.
Send a system restore (T:36) command.
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 (T:2) 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 (T:2) command. Make
sure that the computer does not transmit anything else while the devices renumber.
If using the Binary Protocol, check the following:
6 bytes are transmitted and that the device number and command are valid.
The software does not transmit any control characters such as line feed and spaces.
That the serial port is not configured with a termination character (it often defaults to
linefeed).
If problems are encountered when using custom software, try using one of the demo
programs from the Zaber website to verify that the hardware works.
The device does not behave as expected when software sends it a series of commands.
The computer might be set to Unicode. This is common for languages that use non-Latin
based characters. Go to Control Panel/Regional and Language Options/Advanced. Select a
language for non-unicode programs. This should be English or another Latin based character
language.
Check what is being sent out of the serial port. stackoverflow.com has a list of some tools to
monitor serial ports.
In Binary mode, the device does not send replies but otherwise works.
Auto-reply might have been disabled via T:101.
Send a system restore (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.
Check the serial port settings are correct.
Check connectors for bent or broken pins.
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.
Slipping and Stalling
The device makes noise but does not move.
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 (T:42) 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
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/X-VSR.
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.

oIn this example there are two serial ports available (COM1 and COM15), which are
both USB adaptors.
Linux
1. Finding devices
oOpen a terminal and execute the following command:
dmesg | grep -E ttyU\?S
oThe 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
[ 13.514432] usb 7-2: FTDI USB Serial Device converter now attached to
ttyUSB0
oThis shows that there are 3 serial ports available: ttyS0, ttyS4 and ttyUSB0 (a USB
adaptor)
2. Checking port permissions
oUsing the ports found above, execute the following command
ls -l /dev/tty{S0, S4, USB0}
oThe 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
3. Checking group membership

groups
oThe output will be similar to the following:
adm cdrom sudo dip plugdev users lpadmin sambashare
Notice that dialout is not in the list
oA user can be added to the dialout group with the following command
sudo adduser $USER dialout
oGroup membership will not take effect until the next logon.
OSX
1. Finding devices
oOpen a terminal and execute the following command:
ls /dev/cu.*serial*
oThe response will be similar to the following:
/dev/cu.usbserial-FTB3QAET
/dev/cu.usbserial-FTEJJ1YW
oThis shows that there are two serial ports available, both of which happen to be USB
adaptors.
oThere 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.
Product Drawing

Specifications
Specification
Value
Alternate Unit
Microstep
Size
(Default
Resolution)
0.09525
µm
Built
-
in
Controller
Yes
Repeatability
<
1
µm
<
0.000039
"
Loaded
Backlash
(10
N)
<
10
µm
<
0.000394
"
Maximum
Speed
48
mm/s
1.890
"/s
Minimum
Speed
0.000058
mm/s
0.000002
"/s
Speed
Resolution
0.000058
mm/s
0.000002
"/s
Peak
Thrust
200
N
44.9
lb
Maximum
Continuous
Thrust
100
N
22.4
lb
Communication
Interface
RS
-
232
Communication
Protocol
Zaber ASCII (Default), Zaber Binary
Maximum Centered Load 100 N 22.4 lb
Maximum Cantilever Load 300 N⋅cm 424.8 oz⋅in
Pitch
0.08
°
1.396
mrad
Roll
0.08
°
1.396
mrad

Specification
Value
Alternate Unit
Maximum
Current
Draw
950
mA
Power
Supply
24
-
48
VDC
Power
Plug
2
-
pin Screw Terminal
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
1.9
mH/phase
Default
Resolution
1/64
of a step
Data
Cable
Connection
Locking 4
-
pin M8
Mechanical
Drive
System
Precision Lead Screw
Limit
or
Home
Sensing
Magnetic home sensor
Manual
Control
Yes
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
Comparison
Part
Number
Travel Range
Accuracy
(unidirectional)
Loaded Accuracy (10
N)
Backlash
X-VSR20A
20 mm
(0.78
7
")
50 µm (0.001968 ") 35 µm (0.001378 ") < 35 µm
(<
0.001378
")
X-VSR40A
40 mm
(1.575
")
35 µm (0.001378 ") 20 µm (0.000787 ") < 120 µm
(<
0.004724
")
Part Number
Guide
Type
Horizontal
Runout
Weight
X
-
VSR20A
Ball Bearing
<
30
µm (<
0.001181
")
0.573
kg (1.263
lb)
X
-
VSR40A
Crossed
-
Roller Bearing
<
35
µm (<
0.001378
")
0.813
kg (1.792
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
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