Zaber ASR-E Series User manual

ASR-E Series User's Manual
Closed-loop motorized XY scanning stages with built-in motor encoders
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 autodetect peripheral axes are designed to be used effortlessly with Zaber's line of autodetect controllers.
The ASR-E includes onboard memory that allows Zaber's controllers to autodetect the model and set reasonable
parameters. See the Protocol Manual for more information on how to modify the settings. Damage to the axis 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.
Noise Emissions
The A-weighted emission sound pressure level (SPL) of this device does not exceed 70 dB(A) during intended use.
The A-weighted emission sound pressure level (SPL) of this device may reach up to 79 dB(A) if the stage is stalled.
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
AutoDetect
Your ASR-E peripheral is equipped with AutoDetect, a feature that allows a Zaber controller to automatically
configure its settings for the peripheral when it is connected.
Important: The controller should always be powered down before disconnecting or connecting your ASR-E
peripheral.
To connect the peripheral to a controller:
1. Power off the controller.
2. Connect the ASR-E peripheral.
3. Power on the controller.
4. The controller will activate the peripheral shortly after it is powered on.
Connectors
Recommended controller(s) for your ASR-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 AutoDetect Data
3 reserved
4 Away Sensor
5 Home Sensor

6 Ground
7 Motor B1
8 Motor A1
9 AutoDetect 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 ASR-E can be controlled by any 2-phase stepper motor controller with limit sensor and 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 ASR-E product page
Limit Sensors
Hall effect sensors are used in the ASR-E as home and away 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 10 kΩ and for the bypass capacitor is 0.1 uF
to 1 uF. The larger the capacitance, the better the noise filtering but the slower the response time.
Installation
Shipping Plate Removal
The ASR205B205B-E and ASR305B305B-E stages are fitted with sheet metal plates to prevent shock loads from
the stage during shipping. Follow the instructions below to remove the shipping plates.
Instructions ASR305B305B-E
1. Connect the stage to a controller.
2. Remove the 8 M3 screws securing the shipping plates to the
base and mid-plates as shown.
3. With these screws removed, use the controller to move the
upper-axis in order to gain access to the screws on the
underside of the top-plate as shown.
4. Remove the two screws holding the upper-axis shipping
plate to the underside of the top plate. Move the upper-
axis in
the opposite direction in order to access and remove the two
screws under the opposite side of the top-plate. Slide the
upper-axis shipping plate out and set it aside.

5. Repeat the same procedure for the lower-
axis shipping plate.
Move the lower-
axis to gain access to the 4 screws holding the
lower-axis shipping plate to the underside of the mid-plate.
When all 4
screws are removed, remove the plate. The stage is
now ready to be installed and used.
Mounting
The ASR050B050B-E and ASR100B120B-E stages are mounted using adaptor plates. The ASR205B205B-E and
ASR305B305B-E mount directly to compatible microscopes and use adaptor plates only for breadboard mounting.
The following adaptor plates are currently available:
ASR100B120B-E ASR050B050B-E ASR205B205B-E /
ASR305B305B-E
AP110 - for mounting to standard
M6 or 1/4"-20 breadboards.
AP137 - for
mounting to standard
M6 or 1/4"-20 breadboards.
AP160 -
for mounting to standard
M6 or 1/4"-20 breadboards.
AP111 - for mounting to Leica,
Zeiss and Olympus microscopes.
AP114 - for mounting to Nikon
inverted microscopes.
AP125 - for mounting to Olympus
BX upright microscopes.
AP131 - for mounting to Olympus
IX inverted microscopes.
For more details about these adaptor plates, please see our accessory page.
The adaptor plates are attached to the ASR-E using 2 or 3 M3 screws per plate. To install the adaptors, align them
as shown in the pictures below and tighten the M3 screws. The stage will need to be plugged into the controller so
that you are able to move the lower axis and gain access to the screw holes.
Instructions ASR100B120B-E
1. Position the lower axis such that you have access to the
adaptor plate mounting screw holes.
2. Place an adaptor plate underneath the ASR base.

3. Install and tighten the M3 screws.
The ASR205B205B-E and ASR305B305B-E stages mount directly to the following microscopes:
Olympus MX51*
Olympus MX61
Nikon L200N
Nikon L300N
* ASR205B205B-E only
Custom adaptor plates are available upon request. Please contact Zaber technical support at 1-888-276-8033 or
[e-mail] for more information.
Operation
Most of the information you will need to operate the stage using the X-MCC controller can be found in the X-MCC
User Manual. The sections below provide some additional information that is specific to the ASR-E stages.
ASR-E Inserts
The different ASR-E stages accept the following size inserts:
Stage Insert size
ASR050B050B-E 82 x 82 mm
ASR100B120B-E 160 x 110 mm
ASR205B205B-E 219 x 219 mm
ASR305B305B-E 300 x 300 mm
The following inserts are currently available:
ASR050B050B-E ASR100B120B-E ASR205B205B-E ASR305B305B-E
AM141 - for holding 30-
60mm petri dishes
AM108 - for holding
various petri dishes or
microscope slides
AM152 - solid aluminum
insert
AM153 - solid aluminum
insert
AM142 -
for holding 1" x
3" microscope slides
AM109 - for holding
various multiwell plates
AM154 - M6 x 50 mm
breadboard
AM155 - M6 x 50 mm
breadboard
AM143 - M6 x 25 mm
breadboard
AM126 - M6 x 25 mm
breadboard
AM156 - rotating
125/150/200 mm wafer
holder
AM157 - rotating
150/200/300 mm wafer
holder
AM161 - borosilicate
glass
AM162 - borosilicate
glass

For more details about these inserts, please see our accessory page.
Installation and Removal - ASR050B050B-E and ASR100B120B-E
On the ASR050B050B-E and ASR100B120B-E, the inserts are held in place by a spring clip in one corner of the
ASR-E aperture. To install an insert, place the one corner up against the spring first. While holding this corner
down, push the insert towards the spring clip and snap the opposing corner into place. Removal is the reverse of
this procedure.
For most applications, the spring clip should provide sufficient force to hold the insert in place, while still allowing
quick changes between inserts. For applications requiring more secure mounting, custom inserts can be provided
that can be secured to the ASR-E using 4 M2 screws.
Instructions ASR100B120B-E
1. To install an insert, first position the corner next to
the spring clip as shown.
2. While holding down the corner next to the spring
clip, push the opposite corner down.
Installation and Removal - ASR205B205B-E and ASR305B305B-E
On the ASR205B205B-E and ASR305B305B-E, the inserts are held in place by 3 M4 flat head screws. The screws
mate with 3 matching chamfers on the insert to kinematically constrain it. Some inserts also allow for mounting
using 16 or 24 M3 screws around the perimeter of the insert. The perimeter screws will secure the insert against
high loads, but may compromise the flatness of the stage. It is only recommended that these screws be used when
the necessary to prevent the insert from shifting under high loads.
Instructions ASR305B305B-E

1. To install an insert, first line up the 3 insert chamfers
with the 3 screw pockets in the ASR-E top plate.
2. Screw the 3 M4 x 8 flat head screws into the holes in
the top plate as
shown. Tighten the screws evenly until
the insert is held securely.
3. If required, the insert can be leveled using the 3 M4
set screws adjacent to the flat head screws. Before
adjusting the set screws, loosen the flat head screws.
Setting Home and Away Sensors
The ASR-E provides adjustable travel limits for each axis. A home sensor sets the 0 position of each axis and an
away sensor determines the maximum travel range. As long as the "limit_auto-detect" setting is enabled, each
stage will not be able to move past these limits.
Limit adjustment is performed by moving the magnets which trigger the sensor. The limit switch magnets are
attached to the bottoms of the limit adjustment screws shown in the pictures below.
Important: If adjusting the magnets outwards, make adjustments in small increments. Exceeding the
nominal factory set travel range by more than 3 mm can cause the device to become stuck at one end of travel.
ASR100B120B-E

Upper axis limit switch magnets
Lower axis limit switch magnets
To adjust the limits, loosen the screws by about 1/2 turn, slide the screw to the desired location and re-tighten.
Make sure that the green hall sensor PCB (visible through the magnet adjustment slots) always stays in between
the limit screws.
When adjusting the limit switch magnets, ensure that the green sensor PCB remains in between two magnets.
Software
In addition to the regular software options available for all Zaber devices, the ASR-E is supported by Micro-Manager
open source microscopy software. Micro-manager can be downloaded for free from the Micro-Manager website.
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/ASR-E.
Appendix A: Default Settings
Please see the Zaber Support Page for default settings for this device.
Product Drawings

Specifications
Specification Value Alternate Unit
Microstep Size (Default Resolution) 0.15625 µm
Built-in Controller No
Recommended Controller X-MCC2 (48 V) Recommended
AutoDetect Yes
Repeatability < 2 µm < 0.000079"
Maximum Speed 85 mm/s 3.346"/s
Minimum Speed 0.000095 mm/s 0.000004"/s
Speed Resolution 0.000095 mm/s 0.000004"/s
Encoder Type Rotary quadrature encoder
Peak Thrust 95 N 21.3 lb
Maximum Continuous Thrust 95 N 21.3 lb
Guide Type Crossed roller bearing
Linear Motion Per Motor Rev 2.00 mm 0.079"
Motor Steps Per Rev 200
Motor Type Stepper (2 phase)
Motor Rated Current 1500 mA/phase
Motor Winding Resistance 2.05 ohms/phase
Inductance 1 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, adjustable home and away sensors
Axes of Motion 2
Mounting Interface Separate mounting adaptors available
Operating Temperature Range 0 to 50 °C
Vacuum Compatible No
RoHS Compliant Yes
CE Compliant Yes
Comparison
Part Number X Travel Range Y Travel Range
Accuracy
(unidirectional) Backlash
ASR050B050B-E03T3A 50 mm (1.969") 50 mm (1.969") 12 µm (0.000472") < 4 µm
(< 0.000157")
ASR100B120B-E03T3A 120 mm (4.724") 100 mm (3.937") 40 µm (0.001575") < 4 µm
(< 0.000157")
ASR205B205B-E03T3A 205 mm (8.071") 205 mm (8.071") 50 µm (0.001968") < 10 µm
(< 0.000394")
ASR305B305B-E03T3A 305 mm (12.008") 305 mm (12.008") 80 µm (0.003150") < 10 µm
(< 0.000394")
Part Number Flatness
Maximum
Centered Load Pitch Roll
ASR050B050B-E03T3A 8 µm (0.0003") 200 N (44.9 lb) 0.02° (0.349 mrad) 0.02° (0.349 mrad)
ASR100B120B-E03T3A 15 µm (0.0006") 100 N (22.4 lb) 0.02° (0.349 mrad) 0.02° (0.349 mrad)
ASR205B205B-E03T3A 25 µm (0.0010") 100 N (22.4 lb) 0.02° (0.349 mrad) 0.01° (0.174 mrad)

Part Number Flatness
Maximum
Centered Load Pitch Roll
ASR305B305B-E03T3A 50 µm (0.0020") 100 N (22.4 lb) 0.04° (0.698 mrad) 0.015°
(0.262 mrad)
Part Number Yaw Weight
ASR050B050B-E03T3A 0.005° (0.087 mrad) 1.82 kg (4.012 lb)
ASR100B120B-E03T3A 0.005° (0.087 mrad) 3.0 kg (6.614 lb)
ASR205B205B-E03T3A 0.01° (0.174 mrad) 6.65 kg (14.661 lb)
ASR305B305B-E03T3A 0.015° (0.262 mrad) 10.35 kg (22.818 lb)
Charts and Notes

This product uses the FreeRTOS kernel. FreeRTOS is © 2021 Amazon.com, Inc. or its affiliates and is governed by
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This product uses the LZ4 compression library. LZ4 is © 2011–2016 Yann Collet and is governed by the following
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