LSM-EC Series User's Manual
Miniature motorized linear stages with built-in motor encoders and dust covers
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 autodetect peripheral axes are designed to be used effortlessly with Zaber's line of autodetect controllers. The LSM-EC 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.
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 LSM-EC 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 LSM-EC peripheral.
To connect the peripheral to a controller:
- Power off the controller.
- Connect the LSM-EC peripheral.
- Power on the controller.
- The controller will activate the peripheral shortly after it is powered on.
See the Zaber controller user manual for more details on peripheral activation and control.
Connectors
Recommended controller(s) for your LSM-EC 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 LSM-EC 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 encoders and hall sensor limit switches. Damage to the device due to incorrect wiring is not covered by warranty.
Motors & Encoders
For motor and encoder information see the LSM-EC product page
Limit Sensors
Hall effect sensors are used in the LSM-EC as home 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:
- 5 Vdc input - red
- Home signal - yellow
- Away signal - white
- 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 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
Dust Cover Installation and Removal
The LSM-EC stage comes with a removable dust cover. Temporary removal is required to access stage mounting holes and to re-lubricate the linear bearings.
-
Remove the four M2 screws on each corner of the dust cover using a Phillips screwdriver.
-
Slide the dust cover out through the carriage. The carriage top can remain in place or be removed.
-
If the stage top was removed, reinstall the four M3 x 8mm flathead screws. Make sure the stage top edge is aligned to the carriage edge. Tighten screws to 0.6 Nm using a 2.0 mm hex key.
-
To reinstall the dust cover, simply slide the cover back into place in the same orientation, and return the four M2 screws to each corner
-
Using a Phillips screwdriver, tighten each screw until you feel slight resistance. Overtightening may strip the threads or cause the dust cover to rub against the carriage.
Trajectory Control and Behaviour
This section describes the behaviour of the axis trajectory when a movement command is issued.
Software Position Limits
The travel range of the axis is limited by the Minimum Position and Maximum Position settings. The factory settings for the axis 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 axis cannot move in the negative direction(towards the motor).
- Maximum Position
- When the Current Position is greater than the Maximum Position value, the axis cannot move in the positive direction(away from the motor).
Movement Speed
The movement speed of the axis depends on axis status and various speed settings. If the axis has not been initialized by the home (T:1) command or by moving towards the home end of the axis, movement speed will be constrained to fail-safe values. The home status of the axis can be determined by reading the limit.home.triggered(T:53:103) setting.
Movement speed of the axis is specified below:
- move vel (T:22)
- The axis will move at the specified speed regardless of home status.
- Knob movement in Velocity Mode
- The axis 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 axis has not been homed
- The axis will move at the slower of the maxspeed (T:42) and limit.approach.maxspeed (T:41) settings.
- Other movement commands - when the axis has been homed
- The axis will move at the speed specified by the maxspeed (T:42) setting.
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.
Contact Information
Contact Zaber Technologies Inc by any of the following methods:
| Phone | 1-604-569-3780 (direct) 1-888-276-8033 (toll free in North America) |
|---|---|
| Fax | 1-604-648-8033 |
| #2 - 605 West Kent Ave. N., Vancouver, British Columbia, Canada, V6P 6T7 | |
| Web | www.zaber.com |
| 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/LSM-EC.
Appendix A: Default Settings
Please see the Zaber Support Page for default settings for this device.
Product Drawing
Specifications
Comparison
| Part Number | Microstep Size (Default Resolution) | Travel Range | Accuracy (unidirectional) | Repeatability |
|---|---|---|---|---|
| LSM025A-E03CT4A | 0.047625 µm | 25.4 mm (1.000") | 15 µm (0.000591") | < 3 µm (< 0.000118") |
| LSM025B-E03CT4A | 0.1905 µm | 25.4 mm (1.000") | 15 µm (0.000591") | < 6 µm (< 0.000236") |
| LSM050A-E03CT4A | 0.047625 µm | 50.8 mm (2.000") | 20 µm (0.000787") | < 3 µm (< 0.000118") |
| LSM050B-E03CT4A | 0.1905 µm | 50.8 mm (2.000") | 25 µm (0.000984") | < 6 µm (< 0.000236") |
| LSM100A-E03CT4A | 0.047625 µm | 101.6 mm (4.000") | 35 µm (0.001378") | < 3 µm (< 0.000118") |
| LSM100B-E03CT4A | 0.1905 µm | 101.6 mm (4.000") | 45 µm (0.001772") | < 6 µm (< 0.000236") |
| LSM150A-E03CT4A | 0.047625 µm | 152.4 mm (6.000") | 50 µm (0.001968") | < 3 µm (< 0.000118") |
| LSM150B-E03CT4A | 0.1905 µm | 152.4 mm (6.000") | 65 µm (0.002559") | < 6 µm (< 0.000236") |
| LSM200A-E03CT4A | 0.047625 µm | 203.2 mm (8.000") | 60 µm (0.002362") | < 3 µm (< 0.000118") |
| LSM200B-E03CT4A | 0.1905 µm | 203.2 mm (8.000") | 85 µm (0.003346") | < 6 µm (< 0.000236") |
| Part Number | Backlash | Maximum Speed | Minimum Speed | Speed Resolution |
|---|---|---|---|---|
| LSM025A-E03CT4A | < 12 µm (< 0.000472") | 26 mm/s (1.024"/s) | 0.000029 mm/s (0.000001"/s) | 0.000029 mm/s (0.000001"/s) |
| LSM025B-E03CT4A | < 16 µm (< 0.000630") | 104 mm/s (4.094"/s) | 0.000116 mm/s (0.000005"/s) | 0.000116 mm/s (0.000005"/s) |
| LSM050A-E03CT4A | < 12 µm (< 0.000472") | 26 mm/s (1.024"/s) | 0.000029 mm/s (0.000001"/s) | 0.000029 mm/s (0.000001"/s) |
| LSM050B-E03CT4A | < 16 µm (< 0.000630") | 104 mm/s (4.094"/s) | 0.000116 mm/s (0.000005"/s) | 0.000116 mm/s (0.000005"/s) |
| LSM100A-E03CT4A | < 12 µm (< 0.000472") | 26 mm/s (1.024"/s) | 0.000029 mm/s (0.000001"/s) | 0.000029 mm/s (0.000001"/s) |
| LSM100B-E03CT4A | < 16 µm (< 0.000630") | 104 mm/s (4.094"/s) | 0.000116 mm/s (0.000005"/s) | 0.000116 mm/s (0.000005"/s) |
| LSM150A-E03CT4A | < 12 µm (< 0.000472") | 26 mm/s (1.024"/s) | 0.000029 mm/s (0.000001"/s) | 0.000029 mm/s (0.000001"/s) |
| LSM150B-E03CT4A | < 16 µm (< 0.000630") | 104 mm/s (4.094"/s) | 0.000116 mm/s (0.000005"/s) | 0.000116 mm/s (0.000005"/s) |
| LSM200A-E03CT4A | < 12 µm (< 0.000472") | 26 mm/s (1.024"/s) | 0.000029 mm/s (0.000001"/s) | 0.000029 mm/s (0.000001"/s) |
| LSM200B-E03CT4A | < 16 µm (< 0.000630") | 104 mm/s (4.094"/s) | 0.000116 mm/s (0.000005"/s) | 0.000116 mm/s (0.000005"/s) |
| Part Number | Peak Thrust | Back-driving Force* | Vertical Runout | Horizontal Runout |
|---|---|---|---|---|
| LSM025A-E03CT4A | 55 N (12.3 lb) | Non-back-driving | < 8 µm (< 0.000315") | < 12 µm (< 0.000472") |
| LSM025B-E03CT4A | 25 N (5.6 lb) | 24 N (5.4 lb) (± 30%) | < 8 µm (< 0.000315") | < 12 µm (< 0.000472") |
| LSM050A-E03CT4A | 55 N (12.3 lb) | Non-back-driving | < 11 µm (< 0.000433") | < 14 µm (< 0.000551") |
| LSM050B-E03CT4A | 25 N (5.6 lb) | 24 N (5.4 lb) (± 30%) | < 11 µm (< 0.000433") | < 14 µm (< 0.000551") |
| LSM100A-E03CT4A | 55 N (12.3 lb) | Non-back-driving | < 18 µm (< 0.000709") | < 18 µm (< 0.000709") |
| LSM100B-E03CT4A | 25 N (5.6 lb) | 24 N (5.4 lb) (± 30%) | < 18 µm (< 0.000709") | < 18 µm (< 0.000709") |
| LSM150A-E03CT4A | 55 N (12.3 lb) | Non-back-driving | < 20 µm (< 0.000787") | < 20 µm (< 0.000787") |
| LSM150B-E03CT4A | 25 N (5.6 lb) | 24 N (5.4 lb) (± 30%) | < 20 µm (< 0.000787") | < 20 µm (< 0.000787") |
| LSM200A-E03CT4A | 55 N (12.3 lb) | Non-back-driving | < 20 µm (< 0.000787") | < 20 µm (< 0.000787") |
| LSM200B-E03CT4A | 25 N (5.6 lb) | 24 N (5.4 lb) (± 30%) | < 20 µm (< 0.000787") | < 20 µm (< 0.000787") |
| Part Number | Pitch | Roll | Yaw | Stiffness in Pitch |
|---|---|---|---|---|
| LSM025A-E03CT4A | 0.02° (0.349 mrad) | 0.02° (0.349 mrad) | 0.03° (0.523 mrad) | 75 N⋅m/° (233 µrad/N⋅m) |
| LSM025B-E03CT4A | 0.02° (0.349 mrad) | 0.02° (0.349 mrad) | 0.03° (0.523 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM050A-E03CT4A | 0.03° (0.523 mrad) | 0.03° (0.523 mrad) | 0.03° (0.523 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM050B-E03CT4A | 0.03° (0.523 mrad) | 0.03° (0.523 mrad) | 0.03° (0.523 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM100A-E03CT4A | 0.035° (0.611 mrad) | 0.035° (0.611 mrad) | 0.04° (0.698 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM100B-E03CT4A | 0.035° (0.611 mrad) | 0.035° (0.611 mrad) | 0.04° (0.698 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM150A-E03CT4A | 0.035° (0.611 mrad) | 0.035° (0.611 mrad) | 0.045° (0.785 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM150B-E03CT4A | 0.035° (0.611 mrad) | 0.035° (0.611 mrad) | 0.045° (0.785 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM200A-E03CT4A | 0.035° (0.611 mrad) | 0.035° (0.611 mrad) | 0.045° (0.785 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| LSM200B-E03CT4A | 0.035° (0.611 mrad) | 0.035° (0.611 mrad) | 0.045° (0.785 mrad) | 150 N⋅m/° (116 µrad/N⋅m) |
| Part Number | Stiffness in Roll | Linear Motion Per Motor Rev | Weight |
|---|---|---|---|
| LSM025A-E03CT4A | 75 N⋅m/° (233 µrad/N⋅m) | 0.6096 mm (0.024") | 0.26 kg (0.573 lb) |
| LSM025B-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 2.4384 mm (0.096") | 0.26 kg (0.573 lb) |
| LSM050A-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 0.6096 mm (0.024") | 0.28 kg (0.617 lb) |
| LSM050B-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 2.4384 mm (0.096") | 0.28 kg (0.617 lb) |
| LSM100A-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 0.6096 mm (0.024") | 0.32 kg (0.705 lb) |
| LSM100B-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 2.4384 mm (0.096") | 0.32 kg (0.705 lb) |
| LSM150A-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 0.6096 mm (0.024") | 0.37 kg (0.816 lb) |
| LSM150B-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 2.4384 mm (0.096") | 0.37 kg (0.816 lb) |
| LSM200A-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 0.6096 mm (0.024") | 0.42 kg (0.926 lb) |
| LSM200B-E03CT4A | 150 N⋅m/° (116 µrad/N⋅m) | 2.4384 mm (0.096") | 0.42 kg (0.926 lb) |
Charts and Notes
Product Change Notices
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