Manuals/LRM

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LRM Steel Motorized Linear Stage User's Manual


LRM Steel Motorized Linear Stage


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 and all liability for injury or other damages resulting from the use of our products.

Precautions

Zaber's autodetect peripheral axes are designed to be used effortlessly with Zaber's line of autodetect controllers. The LRM 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.

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 lead screw thread. These will reduce the performance of the device below stated specifications. Lubrication should be limited to what's described in the procedures below; grease or oil should not be applied to any other surfaces, including the lead screw.

Care for Ground Steel Surfaces

The LRM base and carriage are constructed from steel alloys specifically chosen for their dimensional stability, wear resistance and hardness. These parts are not made from stainless steel. As such, a small amount of care is necessary to maintain the ground mounting surfaces on the base and carriage.

The bare steel surfaces on LRM stages are treated with Boeshield T9 corrosion protection before shipping. In our testing, this coating has proven very effective in preventing corrosion. We recommend re-applying as needed to maintain corrosion resistance. To prevent contamination of the linear bearings, spray the Boeshield onto a clean rag and wipe onto the carriage top and stage base. WD40 is an effective alternative if Boeshield is not available.


Lubrication of Linear Guide

The LRM 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. We recommend using 0.1 cm³ (1 mL) of a NLGI Grade 2, lithium soap based grease in each grease port. The grease ports are located on the motor end of the carriage (see pictures below). Simply remove the set screw plugs using a 1.5 mm hex key and 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 the lead screw or any other locations on the stage.

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 LRM peripheral is equipped with AutoDetect, a feature that allows a Zaber controller to automatically configure its settings for the peripheral when it is connected.

Tip lightbulb symbol.png Important: The controller should always be powered down before disconnecting or connecting your LRM peripheral.

To connect the peripheral to a controller:

  1. Power off the controller.
  2. Connect the LRM peripheral.
  3. Power on the controller.
  4. The controller will activate the peripheral shortly after it is powered on.

Connectors

Recommended controller(s) for your LRM 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) T3-DB15-male-connector-annotated-300.jpg
T4A Peripheral (male) T4-DB15-male-connector-annotated-300.jpg
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 LRM 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 stage due to incorrect wiring is not covered by warranty.

Motors

For motor information see the LRM product page

Limit Sensors

Hall effect sensors are used in the LRM 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.

Hall sensor wiring diagram.png

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

Physical Installation

LRM stages can be mounted horizontally or vertically without additional hardware.

Low profile M6 (supplied) or 1/4-20 fasteners must be used. Additional fasteners can be purchased from McMaster-Carr, Fastenal, or other fastener suppliers.



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, please sign up online at www.zaber.com (news section). Newsletters typically include a promotional offer worth at least $100.

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/LRM.

Appendix A: Default Settings

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