GLP-E Series User's Manual

Disclaimer

Zaber’s products 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 warranty of fitness for a particular purpose. The user of this product agrees to Zaber's general terms and conditions of sale.

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 leadscrew thread. These will reduce the performance of the device below stated specifications.

Physical Installation

GLP products have a mounting plate attached to the base with 25mm spaced mounting holes. Below are some examples of how a GLP can be attached to other Zaber devices.

Mounting a GLP to an LSQ

Tools required

• 2.5mm Allen key (hex key)
• 4mm Allen key (hex key)

• 

  Remove the four M3 x 6mm screws to remove mounting plate off the bottom of the GLP, using the 2.5mm Allen key.

• 

  Place the mounting plate on the LSQ as shown and install the four low profile M6 x 08 screws, which were included with shipping.

• 

  Slide the GLP over the alignment dowels located on the mounting plate and re-install the four M3 x 6 mm screws.

• 

  Completed installation of a GLP on a LSQ.

Mounting a GLP to an RSW

• 

  Remove the four M3 x 6mm screws to remove mounting plate off the bottom of the GLP, using the 2.5mm Allen key.

• 

  Place the mounting plate on the RSW as shown and install the four low profile M6 x 08 screws, which were included with shipping. The centre bore can be used to align the GLP with the RSW.

• 

  Slide the GLP over the alignment dowels located on the mounting plate and re-install the four M3 x 6 mm screws. You will need to power up the RSW and move it to allow access to all the screws.

• 

  Completed installation of a GLP on a RSW.

Grounding

To prevent damage to the device due to static buildup, the device should be properly grounded.

Failure to ground the unit may result in the unit shutting down unexpectedly or ceasing to communicate with the computer. This problem can be minimized by not touching the unit during operation. If the unit fails due to static discharge, unplugging it and plugging it back in or sending a Restore Settings command will usually fix the problem.

Most Zaber devices are grounded via the shield wire of the data cables. This should normally provide a path to ground via the computer. For units which are being used without a computer, a ground lead should be connected to the shield of one of the data cables.

Operation

The GLP-E03T3 stages are designed to be controlled with any of Zaber's X-Series or A-Series Stepper Motor Controllers. Zaber's controllers and peripherals are designed for ease of use when used together. Optimal settings for each peripheral (such as the default current, speed, acceleration, and limit settings) can be loaded by setting the peripheralid (T:66) on the controller. The peripheral ID is listed as the ID on the peripheral's label. A list of IDs is also available on the ID Mapping page. For more information on device operation, refer to the controller's user manual.

Pinout for D-sub 15 Connectors (A-series and X-Series controllers and peripherals)

A- or X-series controller (female)
T3 Peripheral (male)
T4 Peripheral (male)

* encoder embedded peripherals only
** devices with encoders with index only
*** devices with away sensors only
**** devices with linear or direct-reading encoders only

Alternate Controllers

The device may be controlled by any 2-phase stepper motor controller with home sensor input. Warning: Operating the unit without correctly wiring up the home sensor can cause permanent damage to the unit. We do not recommend using your own controller unless you are familiar with how to control a stepper motor with a hall sensor limit switch. The following information is provided for reference only. Damage to the actuator or hall sensor due to incorrect wiring is not covered by warranty.

Motor

The GLP-E gripper uses a size 8 stepper motor.

• 0.8 A / Phase
• 5.4 Ω / phase
• 1.5 mH / phase

Home Sensor Wiring

A Hall effect sensor is mounted in the device for use as a home sensor. It is part number A1120LLHLT-T made by Allegro. Click here for data sheet. Your controller should be configured so the stage stops immediately (little deceleration) when the home sensor is triggered.

• Wire colour code:
  • 3.6-24 Vdc input - red
  • Home signal - yellow
  • Ground - 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 the 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 (R_LOAD) 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.

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

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Contact Information

Contact Zaber Technologies Inc by any of the following methods:

The original instructions for this product are available at https://www.zaber.com/manuals/GLP-E.

Appendix A: Default Settings

Please see the Zaber Support Page for default settings for this device.

Product Drawings

Product Change Notices

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