Zaber X-LRQ-DEC Series User manual

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.

Re-lubricating LRQ linear guide
LRQ linear guide lubrication ports
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, you should return the device 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 dev
ice, 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
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.
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, 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.
On briefly, during a move: The device is slipping.
Blinking once every 2 seconds: The device has stalled and stopped.
Flashes: The stationary device has been forced out of position (2 short flashes every 1 second), or
the encoder has encountered a read error and raised the FQ warning flag (5 short flashes every 2
seconds).
Installation
The X-LRQ-DEC 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.
Physical Installation
The X-LRQ-DEC stage has two sets of mounting features that are acceptable means of fastening the
stage to a structure. The first are the slotted holes in the middle of the stage which use M6 fasteners
on a 25 mm x 50 mm grid. The second set of mounting features are the T-slots located on the bottom
of the stage which are 84 mm apart. The T-slots will generally accept T-nuts that are used in 20 mm
aluminum T-slot extrusions.
Do not mount the stage using the T-slots on the side on the device. The T-slots are designed for
use with accessories such as limit sensors, linear encoders, and cable trays only. This T-slot is
designed to accept a standard M2.5 hex nut. Damage will occur if these T-slots are used to mount
the stage.
Dust Cover Removal and Installation
Use caution handling the shim as the edges are extremely sharp. For disassembly, simply
remove the four screws securing the stainless steel dust cover shim and slide the shim out.
In most cases, the shim only needs to be lifted slightly to install the mounting screws and does not
require full removal. Take care not to kink or bend the shim.

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. Be careful not to kink the Dust Cover Shim or cut your fingers on the sharp metal!
Carefully feed the Dust Cover Shim through the stage top adapter, making sure that the shim doesn't
rub directly on the aluminum of the Stage Top Adapter. Align the mounting holes at each end such
that the Dust Cover Shim covers all of the magnet slots in the Sheet Metal Sides.
Take 2x M3x3 screws and thread them through the Dust Cover Shim and into the Dust Cover Shim
Mount Away. Pull the shim as far as it can go towards the away end, and hand tighten the screws,
ensuring that the Dust Cover Shim does not twist during tightening.
Take the remaining 2x M3x3 screws and thread them through the Dust Cover Shim and into the Dust
Cover Shim Mount Home, leaving them loose. Push down on the Dust Cover Shim inside the Stage
Top Adapter, and tighten the M3x3 screws.

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.
Drive the LRQ stage back and forth through its full length a few times, and visually inspect that the
Dust Cover Shim does not bulge anywhere during travel. If the shim bulges, loosen and then re-
torque the M3x3 screw nearest the bulge in order to remove it. If loosening both screws on an end,
you may need to push down on the shim inside the Stage Top Adapter again to add some tension.
Repeat this process until the Dust Cover Shim stays flush with the Sheet Metal Sides through the full
length of travel.
Take the LRQ Dust Cover Adapter Lid and place it in position on the Stage Top Adapter, ensuring
that the countersink holes are on the top. Take the M2x4 screws and hand tighten them into the
Stage Top Adapter.
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