(Discontinued) X-GSR-E Series

Large diameter, motorized goniometers with built-in controllers and motor encoders

Series Specifications

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Overview

Built-in Controller
Range	+/- 60°
Manual Control
Axes of Motion	1
LED Indicators
Weight	4.1 – 5.04 kg*

Positioning Performance

Accuracy (unidirectional)	0.04 – 0.05°*
Repeatability	< 0.005° (< 0.087 mrad)
Backlash	< 0.012 – 0.018°*
Rotation Centre Accuracy	< 0.4 mm (< 0.016")
Microstep Size (Default Resolution)	0.000140625 – 0.0001875°*
Default Resolution	1/64 of a step

Load Performance

Maximum Torque	40 – 60 N⋅m*
Maximum Centered Load	400 – 500 N*

Speed

Maximum Speed	60 – 80°/s*
Minimum Speed	0.00008583 – 0.00011382°/s*
Speed Resolution	0.00008583 – 0.00011382°/s*

Encoder & Sensing

Encoder Type	Rotary quadrature encoder (incremental)
Encoder Resolution	500 CPR (2000 states/rev)
Limit or Home Sensing	Magnetic home sensor

Motor

Angular Motion Per Motor Rev	1.8 – 2.4°*
Motor Steps Per Rev	200
Motor Type	Stepper (2 phase)
Motor Winding Inductance	2.8 mH/phase
Motor Frame Size	NEMA 17

Power and Communication

Communication Interface	RS-232
Communication Protocol	Zaber ASCII (Default), Zaber Binary
Data Cable Connection	Locking 4-pin M8
Power Supply	24-48 VDC
Power Plug	2-pin Screw Terminal

Mechanical

Rotation Centre Height	150 – 225 mm*
Guide Type	Crossed roller bearing
Mechanical Drive System	Roller cam drive
Mounting Interface	M6 mounting holes

Environmental & Compliance

Operating Temperature Range	0-50 °C
CE Compliant
Vacuum Compatible

Part Numbering & Options

Part Specifications Comparison

Part Number	Weight	Accuracy (unidirectional)	Backlash	Microstep Size (Default Resolution)	Maximum Torque	Maximum Centered Load	Maximum Speed	Minimum Speed	Speed Resolution	Angular Motion Per Motor Rev	Rotation Centre Height
X-GSR150-E01	4.1 kg (9.039 lb)	0.05° (0.8725 mrad)	< 0.018° (< 0.314 mrad)	0.0001875° (3.272 µrad)	40 N⋅m (29.52 lb⋅ft)	400 N (89.7 lb)	80°/s (13 rpm)	0.00011382°/s (1.987 µrad/s)	0.00011382°/s (1.987 µrad/s)	2.4°	150 mm (5.905")
X-GSR225-E01	5.04 kg (11.111 lb)	0.04° (0.698 mrad)	< 0.012° (< 0.209 mrad)	0.000140625° (2.454 µrad)	60 N⋅m (44.28 lb⋅ft)	500 N (112.1 lb)	60°/s (10 rpm)	0.00008583°/s (1.498 µrad/s)	0.00008583°/s (1.498 µrad/s)	1.8°	225 mm (8.858")