Zaber X Series User manual

Simplifying Motion Control www.zaber.com
ZABER TECHNOLOGIES
X-Series Device
Getting Started Guide

© 2023 Zaber Technologies Inc.
Contact Customer Support
1-888-276-8033 (Toll Free Canada/USA)
1-604-569-3780 (Direct)
[e-mail]

www.zaber.com
PRECAUTIONS 1
MAINTENANCE 2
RETURNS, WARRANTY, AND REPAIRS 2
COMMON TERMINOLOGY 3
QUICK SET-UP CHECKLIST 4
CONNECT 5
Peripherals 5
Daisy-chaining 5
Computer Connection: USB or Ethernet 6
Power Connection 6
Contents
VERSION 2.4 PDF download: www.zaber.com/XSeriesGettingStarted.pdf
CONTROL 7
Zaber Launcher 7
ASCII Commands 7
Programming Libraries 7
Resolution - Stepper & Servo Motors 8
Servo Device Tuning 9
Oscilloscope 10
Manual Knobs 10
Joystick 11
TROUBLESHOOTING 13
Firmware Update 13
Slipping and Stalling 13
Resetting to Factory Default 13
Indicators 14

1 ZABER TECHNOLOGIES INC.
Getting Started Guide
Precautions
1. Zaber’s devices may produce enough force to cause personal
injury. Be careful to keep hair, body parts, jewelry, and clothing
from being caught in moving components. Pinch labels are
used on our devices to indicate areas of particular concern.
2. During continuous operation, a device’s motor may get hot.
Some models may reach 90°C or more (this is noted in the
manual and heat warning stickers are included on affected
surfaces). This is generally expected behaviour; take caution
when handling the motors of devices during or after operation.
Burnt smells or smoke are not expected during normal
operation; if encountered, discontinue operation and contact
Customer Support.
3. To reduce the risk of electrostatic damage, avoid touching the
electrical contacts of the data cables included with your device(s).
4. Before storing your device(s), retract any extended components
in order to keep them clean and to protect them from damage.
5. Do not expose device(s) to vibration or shock.
6. Do not expose device(s) to extreme conditions, such as
temperatures exceeding device ratings, radiation, and dusty or
humid environments.
7. Do not submerse device(s) in liquid.
8. Do not disassemble. Please contact Customer Support for
service and/or repairs.
9. Check the manual online for any additional precautions and
warnings related to your devices.
10. 10. Power devices after all communication cables have been
securely connected. Plugging and unplugging communication
cables while powered can cause damage.

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Maintenance
Please refer to our online manuals at www.zaber.com/support for
maintenance information on your specic positioner, including
whether re-greasing is necessary and on what schedule. If a
component is exposed to dust or dirt, it should be gently wiped
with isopropyl alcohol. We do not recommend using stronger
solvents, as they can damage non-metal components.
Returns, Warranty, and Repairs
All of Zaber’s standard products (those that appear on our website)
are backed by a 30-day satisfaction guarantee. If you are not
satised with your purchase for any reason, you may return the
item(s) in saleable and unmarked condition within 30 days of the
purchase date for a refund, less applicable shipping costs.
High vacuum (10-6 Torr) devices cannot be returned for refund
once they have been removed from their sealed packaging.
All standard products are warrantied against defects in
manufacture and design for one full year from the purchase date.
This warranty excludes products that have been misused,
modied, or disassembled by the customer. Misuse includes
operating the devices in abnormal conditions, such as in extreme
temperatures, in proximity of radiation or strong magnets, or in wet
environments. If you are not sure whether your conditions are
acceptable under our warranty, please contact Customer Support.
Aside from issues covered under warranty, we are also happy to
inspect any other problems that may arise, and we offer reasonably
priced repairs. Simply email [e-mail] for assistance.
Please refer to www.zaber.com/policies for more information
about our policies.

3 ZABER TECHNOLOGIES INC.
Getting Started Guide
Common Terminology
Positioner
A motorized product with moving mechanics, such as a linear
stage, a rotational stage, or a stepper motor.
Peripheral
A positioner that includes a motor and mechanics but does not
include an integrated controller. Peripherals are designed for use
with Zaber’s motor controllers, but they can also be used with
compatible third-party motor drivers and controllers.
Device
A stand-alone controller or a positioner with an integrated
controller. Stand-alone controllers are designed for use with
Zaber’s peripherals, but they can also be used with compatible
third-party peripherals.
Joystick
A product that allows multi-axis manual input and push-button
input for positioners. Joysticks do not function as controllers;
instead, they are designed to communicate with Zaber’s motor
controllers when connected in series.
X-Series, A-Series, and T-Series
Devices that share common features, such as connectors,
protocols, and power. The series is indicated by the rst letter of
the device’s name. For example, the X-LSM025A model belongs
to the X-Series family. This guide specically relates to X-Series
devices. See an older version of the manual for setup instructions
for T-Series or A-Series devices at:
www.zaber.com/documents/Getting-started-guide.pdf.
Closed-Loop and Servo Devices
For Zaber devices, closed-loop refers to any device where encoder
feedback is used to inform the trajectory of the controller. Servo
devices refer to a sub-set of these where encoder feedback is also
required for the driver. Direct-drive stages are servo devices.
Stepper motor devices with encoders use closed-loop control
but are not servo devices, as the driver controls stepping directly
without encoder feedback. Encoder feedback is still used to inform
the trajectory of the controller on these.
Servo devices require tuning of their control loop to get the best
performance (more on page 9). They also use encoder counts as
their unit of resolution, as opposed to stepper motors, which use
microsteps (more on page 8).

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Quick Set-up Checklist
Checklist Item Page
qCheck for and remove shipping guards or fasteners
(select devices) 4
qConnect to peripheral (if using a peripheral) 5
qConnect daisy-chain (if using multiple devices) 5
qConnect to computer 6
qConnect power 6
qInstall USB drivers (if using USB) 6
qInstall Zaber Launcher 7
qHome the device using software or the manual knob to
conrm set-up 10
qFine tune the servo control loop after mounting a load
(servo devices only) 9
Shipping Guards
Some devices include guards, such as plates, inserts,
covers, or fasteners, which prevent movement of devices
during shipping and limit potential damage from shock
loads. If they are present for a device, they will either be
clearly visible and intuitive to remove or clearly marked with
labels and instructions. Following those instructions, remove
any such components before powering the device. Read the
manual online for more details on shipping security features.
Vacuum Devices
While some of the information covered in this guide
applies to our vacuum compatible devices, please refer
to the online product manuals for detailed connection
recommendations or read our technical article on
“Considerations for Vacuum Applications”:
www.zaber.com/VacuumTechnicalArticle.

5 ZABER TECHNOLOGIES INC.
Getting Started Guide
Connect
Most systems will be quick and easy to connect with four steps. Our Quick Set-Up Tool also provides specic connection recommendations,
which you can nd here: www.zaber.com/QuickSetupTool.
Connect Daisy-chain (if applicable)
Connect multiple devices in series to create
a chain. They will share power and a single
computer connection.
X-Series devices can be daisy-chained using an M8 cable,
such as the X-DC02.
Connect Peripherals (if applicable)
If using a stand-alone controller, plug it into the
motorized axis.
Depending on the controller and peripheral, the motor cable
may be an MC03 (DB-15 M-F), MC10T3 (DB15 to DB26), or
MC10 (DB26 M-F) cable. Cables are high-ex with specic
wire bundling; using cables from Zaber is recommended.

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Connect Power
Connect a power supply to a device to power
the whole chain.
Devices connect to a 24-48VDC power supply. The number
of devices you can power will depend on the combined draw
of the devices and the current capacity of the power supply.
Connect to Computer
Connect the rst controller (built into the device or stand-alone) to your
computer via USB or Ethernet†.
X-Series devices can connect to a computer’s
USB port with an X-USBDC* cable.
Stand-alone controllers also have the option to
connect directly to a computer’s USB port with
a U-DC06 cable or over Ethernet.
*Drivers may be required if COM port does not appear. Download and installation instructions here: www.zaber.com/software.
†See X-MCC manual for Ethernet setup: www.zaber.com/manuals/X-MCC.

7 ZABER TECHNOLOGIES INC.
Getting Started Guide
Control
Once your Zaber device is powered and connected to a computer,
you are ready to start controlling it. To begin communicating with
your device, you will need to select a software interface. The
following sections outline some of the software options available.
Zaber Launcher
Zaber Launcher is a cross-platform application that helps you set up,
control, and explore your devices. This guide assumes that this is
the software you are using. Find it at:
software.zaber.com/zaber-launcher.
ASCII Commands
Communication protocols dictate the way in which commands are
formatted to send to a device. Zaber ASCII is the recommended
and default protocol for the X-Series.
ASCII Manual www.zaber.com/manuals/ASCIIProtocol
Programming Libraries
In order to make working with Zaber devices as easy as possible,
Zaber offers fully-featured programming libraries with comprehensive
APIs and examples in a number of programming languages.
LabVIEW www.zaber.com/software/LabVIEWASCII
Python 3
www.zaber.com/software/ZML
C#
C++
JavaScript
Java
MATLAB

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Resolution - Stepper & Servo Motors
The resolution of a device is the smallest increment you can
command it to move. For example, sending the ASCII protocol
command /move rel 1instructs a device to move forward by
1 increment. The physical distance corresponding to this increment
depends on the type of motor that drives the device. For devices
driven by stepper motors, an increment is a microstep of the motor,
and the size of an increment is the device’s Microstep Size
specication. For servo devices, an increment is an encoder count,
and the size of an increment is the device’s Encoder Resolution
specication.
Microstepping
Stepper motors are designed for position control. In a motor
revolution, they have a number of equally-spaced full-step
positions. Most stepper motors in Zaber devices have 200 steps
per revolution.
Zaber’s drivers sub-divide each motor step into a number of
smaller increments called microsteps. By default, most devices use
a resolution of 64 microsteps per step (although this is adjustable),
so by default they can move to 12800 microstep positions for every
motor revolution.
Many devices use lead screws or gearing to move the actuators
or stages, so a motor revolution will move the device a certain
distance. That distance can be divided by the number of
microsteps per revolution to get the distance moved per microstep.
This is the Microstep Size. The Microstep Size will vary from device
to device; the value for your device is available on our website
under the ‘Series Specs’ tab for each product.
Encoder Counts
Unlike stepper motors, servo motors are designed with force
control in mind; they can be driven using position control, but the
resolution is very coarse. To achieve ne-resolution positioning,
Zaber’s servo devices feature a variety of digital and analog
position encoders for feedback. An encoder count is the smallest
movement of the encoder that will be registered by the controller.
Speed and Acceleration
While microsteps (for stepper motor devices) or encoder counts
(for direct drive devices) are the increments of position on Zaber
devices, there are conversion factors required to calculate the
increments of speed and acceleration.
Zaber Launcher and the programming libraries will handle this
conversion for you if you are using them. Otherwise, see the table
below for the conversion formula.
speed (in microsteps or encoder counts/second) = Data / 1.6384
acceleration (in microsteps or encoder counts/second²) = Data / 1638.4

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Servo Device Tuning
Servo devices should be tuned to optimize their performance for a
specic load. The default parameters used assume there is no load
added to the stage. You can tune the parameters for your load,
and to adjust the smoothness, accuracy, and responsiveness of
the performance, using the Servo Tuner app in Zaber Launcher. It
also provides options for tuning with PID parameters and saving or
loading tuning sets.
The controller can store multiple tuning presets for different loading
conditions. There is also a separate live tuning set, which is the
active tuning. A setting determines which stored preset is loaded
at power up. The Servo Tuner app lets you load and store between
the presets and the live set.
If an invalid tuning is loaded to the live set, the motion may become
unstable. Press Disable Driver to quickly cut power to the motor.

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Oscilloscope
Use the Oscilloscope app in Zaber Launcher to view high-
resolution data about the device. For example, you can view the
target trajectory and the encoder measured position for servo
devices in order to validate the active tuning parameters.
Manual Knobs
Most Zaber devices include a manual knob for moving the unit
without a computer connection. Devices still need to be connected
to a power source for the manual knob to work.
Knob Functionality
Turning the knob Moves the device based on the direction the
knob is turned (clockwise moves in the positive
direction).
Pressing the knob Decelerates and stops the device (identical
to a Stop command). Pressing the knob also
instantly stops the device if the device is already
decelerating.
Pressing and holding the
knob for 1 second
Toggles between Velocity Mode* and
Displacement Mode†.
*Velocity Mode: each knob turn increments the speed of the axis in a continuous
movement.
†Displacement Mode: each knob turn moves the axis a specic distance, as
indicated by the knob.distance setting.

11 ZABER TECHNOLOGIES INC.
Getting Started Guide
Joystick
Zaber’s joystick can be used to control up to 3 Zaber devices
manually; the joystick’s programmable buttons can also save
commands for ease of use.
The joystick is designed to connect at the start of a daisy-chain,
where it can send instructions to all of the other devices over the
chain. However, these joysticks are not intended to act as
controllers, so each axis will still require an integrated controller
or a stand-alone controller.
Default Key Configuration for X-JOY3
Key Short Press Long Press
1 Stop Home
2 Send alerts* 1, 2 Send alerts* 1, 3, 4
3 Move to saved position Save position
4 Move to saved position Save position
5 Move to saved position Save position
6 Axis 1 low speed Axis 1 high speed
7 Axis 2 low speed Axis 2 high speed
8 Axis 3 low speed Axis 3 high speed
*When comm.alert is set to 1.
The X-JOY3 with programmable buttons to control devices manually.

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Joystick Start-up Instructions
Connect
The joystick must be connected to a computer to congure it.
Once it is congured, you can operate it with or without a computer
connection. The joystick should be the rst device in the
daisy-chain. Once all devices are connected to the chain, send the
renumber command to all device. The joystick will be device 1, and
the joystick will control devices 2, 3, and 4 (the three devices
daisy-chained after it).
Configure
Zaber Launcher includes an app that lets you customize the
behaviour of the joystick and dene what commands the buttons
will send. You can also save and load the conguration.

13 ZABER TECHNOLOGIES INC.
Getting Started Guide
Troubleshooting
Some general troubleshooting information is included here. See
the online product manual for additional information.
Firmware Update
Access new features and bug xes by updating your devices to the
latest rmware version using Zaber Launcher.
Slipping and Stalling
If the positioner is making unusual noises when in motion, and/or
it is not traveling the expected distance or not traveling at all, then
the positioner is likely slipping or stalling.
If the positioner is slipping or stalling, and it has encoders, the
blue LED on the controller will also ash. To correct the problem,
try the following steps:
1. Lower the maximum speed setting.
2. Lower the maximum acceleration setting.
3. Reduce the load on the positioner.
If the positioner continues to stall with no external load at default
speed and acceleration settings, or if the steps above cannot be
performed given your application requirements, please contact
Customer Support for assistance.
Resetting to Factory Default
If the device is unable to communicate, operating erratically, or
performing in unexpected ways, a manual factory reset can be
performed through the following steps:
1. Power Off the device.
2. Push and hold the knob (use axis 1 knob for a multi-axis device).
3. Power On the device.
4. Continue to hold the knob in (for ~5 seconds) until one or more LEDs
are fading or the blue LED is lit, then release.

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Indicators
Device LED Green On Device is powered
Off Device is not powered
Blinking at 2 Hz Voltage or temperature outside of acceptable range
Yellow Flashing Device is receiving communication
Blinking at 2 Hz Device received a corrupt packet - checksum mismatch
Red On or Blinking A critical error has occurred
Axis LED Yellow On Positioner is moving
Blinking Positioner is moving under manual control
Fading in and out A peripheral with AutoDetect is plugged in and requires activation
Blue On Peripheral was disconnected and the axis is deactivated
Fading in and out Positioner is parked
Flashing Positioner is slipping
Blinking at 0.5 Hz Positioner has stalled
Blinking at 2 Hz Driver is disabled; see warning ags for explanation
2 ash burst at 1 Hz Stationary positioner was displaced
5 ash burst at 0.5 Hz Encoder has encountered an error

15 ZABER TECHNOLOGIES INC.
Getting Started Guide
Customer Support
1-888-276-8033 (Toll Free Canada/USA)
1-604-569-3780 (Direct)
[e-mail]

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Zaber Technologies Inc.
#2 – 605 West Kent Ave. N.
Vancouver, British Columbia
Canada V6P 6T7
Toll Free: 1-888-276-8033
Direct: 1-604-569-3780
Fax: [phone]
www.zaber.com
[e-mail]