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LRT-AEC Motorized Linear Stages with Linear Encoders and Dust Covers User's Manual

File:LRT-AEC w400.jpg
LRT-AEC Motorized Linear Stages with Linear Encoders and Dust Covers


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 LRT-AEC 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


Your LRT-AEC 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 LRT-AEC peripheral.

To connect the peripheral to a controller:

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


Recommended controller(s) for your LRT-AEC 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
Motor and Sensor Interface

Pin Description Pin Description
1 AutoDetect Clock 14 N.C.
2 AutoDetect Data 15 +5V
3 N.C. 16 Ground
4 N.C. 17 N.C.
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.

Alternate Controllers

The LRT-AEC 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 LRT-AEC product page

Limit Sensors

Hall effect sensors are used in the LRT-AEC 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.


Physical Installation

Tip lightbulb symbol.png Tip: To obtain the best pitch, roll, yaw and runout accuracy, mount the stage to a known flat, stiff surface. Our tests were performed on a granite table, grade A flatness.

Warning exclamation.png Tipping Hazard! Ensure stage is fastened to a secure surface before mounting load on carriage. An unmounted stage with a load presents a tipping hazard. Ensure loads are mounted securely to the carriage of the stage.

Warning exclamation.png Back-driving Hazard! When mounting stages vertically where they will lift a load, do not exceed the values in the following table. Exceeding this load could backdrive the device, especially during loss of power, and could damage its controller and cause injury.

Drive Screw Version Back-driving Force (N)
A Non-back-driving
B 420
D 40
H 157


We recommend greasing the linear bearings to prolong service life. Many factors affect the lifetime of the grease and bearings including temperature, contamination, and loading configurations but the following chart provides a guideline. Grease with Shell Gadus S2 V220 2 or similar lithium thickened petroleum grease.

LRT re-greasing schedule.JPG

Remove dust cover

Warning exclamation.png Careful, dust cover edges are sharp!

Warning exclamation.png Pinch Hazard! You will need to move the stage with the power on while greasing. Be careful not to squish anything, especially fingers or hands, between the carriage and the end plates.

Reinstall dust cover

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 (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
Email Please visit our website for up to date email contact information.

The original instructions for this product are available at

Appendix A: Default Settings

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