- 1 Disclaimer
- 2 Precautions
- 3 Conventions used throughout this document
- 4 Device Overview
- 5 Installation
- 6 Warranty and Repair
- 7 Email Updates
- 8 Contact Information
- 9 Appendix A: Default Settings
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.
Zaber's autodetect peripheral axes are designed to be used effortlessly with Zaber's line of autodetect controllers. The LRQ-DE 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 of linear guides
The LRQ-DE series of linear stages use recirculating ball bearing linear guides to support and guide the stage top of the device. These linear guides require lubrication in order to achieve the longest possible lifetime at the highest possible performance. At the rated load of the device, it is recommended to re-lubricate each bearing block on the linear guide at a 500 km service interval. We recommend using 0.2 cm³ per bearing block of a NLGI Grade 2, lithium soap based grease. The grease ports are located on the motor end of the carriage (see pictures below). Simply remove the screw plugs using a 2.5 mm hex key and inject about 0.2 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.
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.
Your LRQ-DE peripheral is equipped with AutoDetect, a feature that allows a Zaber controller to automatically configure its settings for the peripheral when it is connected.
To connect the peripheral to a controller:
- Power off the controller.
- Connect the LRQ-DE peripheral.
- Power on the controller.
- The controller will activate the peripheral shortly after it is powered on.
Recommended controller(s) for your LRQ-DE 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:
Motor and Sensor Interface
Male High Density D-sub26 Connector
|5||Home Limit Sensor||18||Motor B1|
|6||N.C.||19||Differential Encoder A-|
|7||Ground||20||Differential Encoder B-|
|8||Motor A2||21||Differential Encoder Index-|
|9||Motor A1||22||AutoDetect Presence|
|10||Differential Encoder A+||23||N.C.|
|11||Differential Encoder B+||24||N.C.|
|12||Differential Encoder Index+||25||N.C.|
|13||Differential Encoder Error||26||Motor B2|
NOTE: All hall sensor signals (for limits or motor phase) are open collector and require a pull-up on the controller.
NOTE: All single-ended encoder inputs are non-isolated 5V TTL lines.
NOTE: All differential encoder signals are non-isolated, and must be terminated on the controller with 120 Ω. For -DE peripherals, these signals are RS-422 (digital) with a maximum frequency of 10 MHz.
The LRQ-DE 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 hall sensor limit switches. Damage to the stage due to incorrect wiring is not covered by warranty.
Motors & Encoders
For motor and encoder information see the LRQ-DE product page
Hall effect sensors are used in the LRQ-DE 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.
The LRQ-DE stage has two sets of mounting features that are acceptable means of fastening the stage to a structure. The first are the slotted holes in the middle of the stage which use M6 fasteners on a 25 mm x 50 mm grid. The second set of mounting features are the T-slots located on the bottom of the stage which are 84 mm apart. The T-slots will generally accept T-nuts that are used in 20 mm aluminum T-slot extrusions.
Do not mount the stage using the T-slots on the side on the device. The T-slots are designed for use with accessories such as limit sensors, linear encoders, and cable trays only. This T-slot is designed to accept a standard M2.5 hex nut. Damage will occur if these T-slots are used to mount the stage.
Warranty and Repair
For Zaber's policies on warranty and repair, please refer to the Ordering Policies.
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 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.
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 Zaber Technologies Inc by any of the following methods:
1-888-276-8033 (toll free in North America)
|#2 - 605 West Kent Ave. N., Vancouver, British Columbia, Canada, V6P 6T7|
|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/LRQ-DE.
Appendix A: Default Settings
Please see the Zaber Support Page for default settings for this device.