LSQ-C Series User's Manual

High-speed motorized linear stages with 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 LSQ-C 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.

Lubrication of Linear Guide

The LSQ-C carriage is supported by an integrated recirculating ball bearing linear guide which requires lubrication in order to achieve the longest possible lifetime. At the rated load of the device, it is recommended to re-lubricate at a 500 km service interval. For applications in dirty environments or applications with extremely high duty cycles, more frequent inspection and lubrication is recommended. We recommend using 0.1 cm³ (0.1 mL) of a NLGI Grade 2, lithium soap based grease in each grease port. The grease ports are located on both ends of the carriage (see pictures below) and both sides of the lead screw. Simply inject about 0.1 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 any other locations on the stage.

SG133 relubrication kit

LSQ linear guide relubricating ports. Located on both ends of the carriage
Re-lubricating LSQ linear guide

Lubrication of Lead Screw - Lead Screw Noise

All LSQ-C lead screws come lubricated by Zaber. If your stage develops a chirping or squealing sound while moving, especially at high speed, lubricating the lead screw will usually solve the problem. We recommend Super Lube 52004 Synthetic Lightweight Oil.

Remove any equipment from the carriage that obstructs access to the lead screw.
Remove the dust cover by following the instructions, if applicable.
Move the carriage to the away position.
Wipe the lead screw clean of any dust or debris before application.
Apply a small line of Super Lube down the whole length of the lead screw. Be careful not to get any oil into the lead nut as it can interfere with the anti-backlash mechanism.
Move the carriage slowly (speed = ~60 rpm or 21,000 Zaber units) to the home position to evenly distribute the oil. Move the carriage end-to-end again if needed.
Follow the instructions to reinstall the dust cover, if applicable.

Applying Super Lube to lead screw
This is the correct amount of oil

Noise Emissions

The A-weighted emission sound pressure level (SPL) of this device does not exceed 70 dB(A) during intended use.

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 LSQ-C 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 LSQ-C peripheral.

To connect the peripheral to a controller:

Power off the controller.
Connect the LSQ-C 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 LSQ-C 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 LSQ-C can be controlled by any 2-phase stepper motor controller with limit sensor 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 device due to incorrect wiring is not covered by warranty.

Motors

For motor information see the LSQ-C product page

Limit Sensors

Hall effect sensors are used in the LSQ-C 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 (R_LOAD) 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 LSQ-C stage comes with a removable dust cover. Temporary removal is required to access stage mounting holes and to re-lubricate the linear bearings.

Loosen the two set screws on the motor end plate using a 1.5 mm hex key.
Remove the two M3 screws on the end of the LSQ device.
Slide the dust cover and spacer plate out from the end plate and through the carriage. The carriage top can remain in place or be removed.
To reinstall the dust cover, simply slide the cover back into place and tighten the two M3 set screws on the motor end plate using a 1.5 mm hex key.
Slide the spacer plate back under the end of the dust cover and align the M3 holes. Reinstall the two M3 screws using 2 mm hex key.
If the stage top was removed, install the four M3 x 16 mm screws. Make sure the stage top edge is aligned to the carriage edge. Tighten screws to 1.3 Nm using a 2.5 mm hex key.

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
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/LSQ-C.

Appendix A: Default Settings

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

Product Drawing

Specifications

Specification	Value	Alternate Unit
Built-in Controller	No
Recommended Controller	X-MCC (48 V) Recommended
AutoDetect	Yes
Encoder Type	None
Maximum Centered Load	500 N	112.1 lb
Maximum Moment (Roll)	20 N⋅m	14.8 ft⋅lb
Maximum Moment (Pitch)	6 N⋅m	4.4 ft⋅lb
Maximum Moment (Yaw)	6 N⋅m	4.4 ft⋅lb
Guide Type	Recirculating Ball Linear Guide
Vertical Runout	< 30 µm	< 0.001181"
Pitch	0.06°	1.047 mrad
Roll	0.03°	0.523 mrad
Yaw	0.03°	0.523 mrad
Stiffness in Pitch	150 N⋅m/°	116 µrad/N⋅m
Stiffness in Roll	225 N⋅m/°	78 µrad/N⋅m
Stiffness in Yaw	150 N⋅m/°	116 µrad/N⋅m
Motor Steps Per Rev	200
Motor Type	Stepper (2 phase)
Motor Rated Current	2300 mA/phase
Motor Winding Resistance	1 ohms/phase
Inductance	2.2 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 home sensor
Axes of Motion	1
Mounting Interface	M6 threaded holes
Stage Parallelism	< 100 µm	< 0.003937"
Operating Temperature Range	0 to 50 °C
CE Compliant	Yes
Vacuum Compatible	No

Comparison

Part Number	Microstep Size (Default Resolution)	Travel Range	Accuracy (unidirectional)	Repeatability
LSQ075A-CT3A	0.09921875 µm	75 mm (2.953")	35 µm (0.001378")	< 2 µm (< 0.000079")
LSQ075B-CT3A	0.49609375 µm	75 mm (2.953")	45 µm (0.001772")	< 3 µm (< 0.000118")
LSQ075D-CT3A	1.984375 µm	75 mm (2.953")	80 µm (0.003150")	< 10 µm (< 0.000394")
LSQ150A-CT3A	0.09921875 µm	150 mm (5.905")	45 µm (0.001772")	< 2 µm (< 0.000079")
LSQ150B-CT3A	0.49609375 µm	150 mm (5.905")	50 µm (0.001968")	< 3 µm (< 0.000118")
LSQ150D-CT3A	1.984375 µm	150 mm (5.905")	100 µm (0.003937")	< 10 µm (< 0.000394")
LSQ300A-CT3A	0.09921875 µm	300 mm (11.811")	90 µm (0.003543")	< 2 µm (< 0.000079")
LSQ300B-CT3A	0.49609375 µm	300 mm (11.811")	65 µm (0.002559")	< 3 µm (< 0.000118")
LSQ300D-CT3A	1.984375 µm	300 mm (11.811")	145 µm (0.005709")	< 10 µm (< 0.000394")
LSQ450A-CT3A	0.09921875 µm	450 mm (17.716")	135 µm (0.005315")	< 2 µm (< 0.000079")
LSQ450B-CT3A	0.49609375 µm	450 mm (17.716")	75 µm (0.002953")	< 3 µm (< 0.000118")
LSQ450D-CT3A	1.984375 µm	450 mm (17.716")	185 µm (0.007283")	< 10 µm (< 0.000394")
LSQ600A-CT3A	0.09921875 µm	600 mm (23.622")	180 µm (0.007087")	< 2 µm (< 0.000079")
LSQ600B-CT3A	0.49609375 µm	600 mm (23.622")	100 µm (0.003937")	< 3 µm (< 0.000118")
LSQ600D-CT3A	1.984375 µm	600 mm (23.622")	230 µm (0.009055")	< 10 µm (< 0.000394")

Part Number	Backlash	Maximum Speed	Minimum Speed	Speed Resolution
LSQ075A-CT3A	< 15 µm (< 0.000591")	53 mm/s (2.087"/s)	0.000061 mm/s (0.000002"/s)	0.000061 mm/s (0.000002"/s)
LSQ075B-CT3A	< 18 µm (< 0.000709")	280 mm/s (11.024"/s)	0.000303 mm/s (0.000012"/s)	0.000303 mm/s (0.000012"/s)
LSQ075D-CT3A	< 75 µm (< 0.002953")	1000 mm/s (39.370"/s)	0.001212 mm/s (0.000048"/s)	0.001212 mm/s (0.000048"/s)
LSQ150A-CT3A	< 15 µm (< 0.000591")	53 mm/s (2.087"/s)	0.000061 mm/s (0.000002"/s)	0.000061 mm/s (0.000002"/s)
LSQ150B-CT3A	< 18 µm (< 0.000709")	280 mm/s (11.024"/s)	0.000303 mm/s (0.000012"/s)	0.000303 mm/s (0.000012"/s)
LSQ150D-CT3A	< 75 µm (< 0.002953")	1000 mm/s (39.370"/s)	0.001212 mm/s (0.000048"/s)	0.001212 mm/s (0.000048"/s)
LSQ300A-CT3A	< 15 µm (< 0.000591")	53 mm/s (2.087"/s)	0.000061 mm/s (0.000002"/s)	0.000061 mm/s (0.000002"/s)
LSQ300B-CT3A	< 18 µm (< 0.000709")	280 mm/s (11.024"/s)	0.000303 mm/s (0.000012"/s)	0.000303 mm/s (0.000012"/s)
LSQ300D-CT3A	< 75 µm (< 0.002953")	1000 mm/s (39.370"/s)	0.001212 mm/s (0.000048"/s)	0.001212 mm/s (0.000048"/s)
LSQ450A-CT3A	< 15 µm (< 0.000591")	46 mm/s (1.811"/s)	0.000061 mm/s (0.000002"/s)	0.000061 mm/s (0.000002"/s)
LSQ450B-CT3A	< 18 µm (< 0.000709")	240 mm/s (9.449"/s)	0.000303 mm/s (0.000012"/s)	0.000303 mm/s (0.000012"/s)
LSQ450D-CT3A	< 75 µm (< 0.002953")	1000 mm/s (39.370"/s)	0.001212 mm/s (0.000048"/s)	0.001212 mm/s (0.000048"/s)
LSQ600A-CT3A	< 15 µm (< 0.000591")	28 mm/s (1.102"/s)	0.000061 mm/s (0.000002"/s)	0.000061 mm/s (0.000002"/s)
LSQ600B-CT3A	< 18 µm (< 0.000709")	144 mm/s (5.669"/s)	0.000303 mm/s (0.000012"/s)	0.000303 mm/s (0.000012"/s)
LSQ600D-CT3A	< 75 µm (< 0.002953")	700 mm/s (27.559"/s)	0.001212 mm/s (0.000048"/s)	0.001212 mm/s (0.000048"/s)

Part Number	Peak Thrust	Back-driving Force*	Maximum Continuous Thrust	Horizontal Runout
LSQ075A-CT3A	275 N (61.7 lb)	Non-back-driving	100 N (22.4 lb)	< 20 µm (< 0.000787")
LSQ075B-CT3A	120 N (26.9 lb)	44 N (9.9 lb)	75 N (16.8 lb)	< 20 µm (< 0.000787")
LSQ075D-CT3A	35 N (7.8 lb)	12 N (2.7 lb)	18 N (4.0 lb)	< 20 µm (< 0.000787")
LSQ150A-CT3A	275 N (61.7 lb)	Non-back-driving	100 N (22.4 lb)	< 30 µm (< 0.001181")
LSQ150B-CT3A	120 N (26.9 lb)	44 N (9.9 lb)	75 N (16.8 lb)	< 30 µm (< 0.001181")
LSQ150D-CT3A	35 N (7.8 lb)	12 N (2.7 lb)	18 N (4.0 lb)	< 30 µm (< 0.001181")
LSQ300A-CT3A	275 N (61.7 lb)	Non-back-driving	100 N (22.4 lb)	< 35 µm (< 0.001378")
LSQ300B-CT3A	120 N (26.9 lb)	44 N (9.9 lb)	75 N (16.8 lb)	< 35 µm (< 0.001378")
LSQ300D-CT3A	35 N (7.8 lb)	12 N (2.7 lb)	18 N (4.0 lb)	< 35 µm (< 0.001378")
LSQ450A-CT3A	275 N (61.7 lb)	Non-back-driving	100 N (22.4 lb)	< 40 µm (< 0.001575")
LSQ450B-CT3A	120 N (26.9 lb)	44 N (9.9 lb)	75 N (16.8 lb)	< 40 µm (< 0.001575")
LSQ450D-CT3A	35 N (7.8 lb)	12 N (2.7 lb)	18 N (4.0 lb)	< 40 µm (< 0.001575")
LSQ600A-CT3A	275 N (61.7 lb)	Non-back-driving	100 N (22.4 lb)	< 60 µm (< 0.002362")
LSQ600B-CT3A	120 N (26.9 lb)	44 N (9.9 lb)	75 N (16.8 lb)	< 60 µm (< 0.002362")
LSQ600D-CT3A	35 N (7.8 lb)	12 N (2.7 lb)	18 N (4.0 lb)	< 60 µm (< 0.002362")

Part Number	Linear Motion Per Motor Rev	Weight
LSQ075A-CT3A	1.27 mm (0.050")	1.36 kg (2.998 lb)
LSQ075B-CT3A	6.35 mm (0.250")	1.36 kg (2.998 lb)
LSQ075D-CT3A	25.4 mm (1.000")	1.36 kg (2.998 lb)
LSQ150A-CT3A	1.27 mm (0.050")	1.6 kg (3.527 lb)
LSQ150B-CT3A	6.35 mm (0.250")	1.6 kg (3.527 lb)
LSQ150D-CT3A	25.4 mm (1.000")	1.6 kg (3.527 lb)
LSQ300A-CT3A	1.27 mm (0.050")	2.05 kg (4.519 lb)
LSQ300B-CT3A	6.35 mm (0.250")	2.05 kg (4.519 lb)
LSQ300D-CT3A	25.4 mm (1.000")	2.05 kg (4.519 lb)
LSQ450A-CT3A	1.27 mm (0.050")	2.6 kg (5.732 lb)
LSQ450B-CT3A	6.35 mm (0.250")	2.6 kg (5.732 lb)
LSQ450D-CT3A	25.4 mm (1.000")	2.6 kg (5.732 lb)
LSQ600A-CT3A	1.27 mm (0.050")	3.25 kg (7.165 lb)
LSQ600B-CT3A	6.35 mm (0.250")	3.25 kg (7.165 lb)
LSQ600D-CT3A	25.4 mm (1.000")	3.25 kg (7.165 lb)

Charts and Notes

Performance Chart LSQxxxX-CT3A_thrust_speed

Performance Chart LSQxxxA-CT3A_thrust_speed

Performance Chart LSQxxxB-CT3A_thrust_speed

Performance Chart LSQxxxD-CT3A_thrust_speed

Performance Chart LSQxxxA-CT3A_uStep_accuracy

Performance Chart LSQxxxB-CT3A_uStep_accuracy

Performance Chart LSQxxxD-CT3A_uStep_accuracy

Performance Chart LSQxxxxx_Lifetime Recirculating Bearing

Product Change Notices

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