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RSM Miniature Rotary Stage with Built-in Encoder User's Manual
RSM Miniature Rotary Stage


Zaber’s devices 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 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 leadscrew thread. These will reduce the performance of the device below stated specifications.

Noise Emissions

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


The RSM-E03T4 stages are designed to be controlled with any of Zaber's X-Series or A-Series Stepper Motor Controllers. Zaber's controllers and peripherals are designed for ease of use when used together. Optimal settings for each peripheral (such as the default current, speed, acceleration, and limit settings) can be loaded by setting the peripheralid (T:66) on the controller. The peripheral ID is listed as the ID on the peripheral's label. A list of IDs is also available on the ID Mapping page. For more information on device operation, refer to the controller's user manual.

Physical Installation

RSM-E stages can be mounted flat (with a vertical axis of rotation) or on edge (having a horizontal axis of rotation) without additional hardware. M3 x 16mm fasteners (included) are recommended for mounting the device. The rotation platform should be rotated 45 degrees from the home position to allow access to mounting holes. Edge mounting requires removal of the two M3 set screws shown below. These keep debris out of the main gear cavity when edge mounting is not needed.


The RSM-E has several features to help align the axis of rotation.

A 4 mm bore through the centre of the device is concentric with the rotation axis and will fit tightly around a locating 4 mm diameter dowel pin inserted from either the top or the bottom of the device.

Four 5.5 mm diameter feet on the base of the device are intended to interlock with compatible Zaber devices and locate the rotation axis. These include AP135 and GSM goniometer products. The RSM-E top is also compatible with these alignment bosses and can be used to align AP146, AB147, and GSM goniometers on the RSM-E stage top.

Three reference sides are intended for edge-mounting alignment. The AP146 accessory is designed specifically to align with the edge features on the RSM-E stage.


To re-grease the worm gear:

Pinout for D-sub 15 Connectors (A-series and X-Series controllers and peripherals)

A- or X-series controller (female) DB15-female-connector-annotated-300.jpg
T3 Peripheral (male) T3-DB15-male-connector-annotated-300.jpg
T4 Peripheral (male) T4-DB15-male-connector-annotated-300.jpg
Pin # Function
1 +5V
2 Encoder Error ****
3 reserved
4 Away Sensor ***
5 Home Sensor
6 Ground
7 Motor B1
8 Motor A1
9 +5V *
10 Encoder A *
11 Encoder B *
12 Encoder Index **
13 Ground *
14 Motor B2
15 Motor A2

* encoder embedded peripherals only
** devices with encoders with index only
*** devices with away sensors only
**** devices with linear or direct-reading encoders only

Alternate Controllers

The actuators may be controlled by any 2-phase stepper motor controller with home sensor input. Warning: Operating the stage without correctly wiring up the home sensor can cause permanent damage to the sensor. We do not recommend using your own controller unless you are familiar with how to control a stepper motor with a hall sensor limit switch. The following information is provided for reference only. Damage to the stage or hall sensor due to incorrect wiring is not covered by warranty.


The RSM-E stage uses a NEMA size 08 stepper motor.

  • 0.6 A / Phase
  • 3.5 mH / phase

Home Sensor Wiring

A Hall effect sensor is mounted in the device for use as a home sensor. It is part number A1120LLHLT-T made by Allegro. Click here for data sheet. Your controller should be configured so the stage stops immediately (little deceleration) when the home sensor is triggered.

  • Wire colour code:
    • 3.6-24 Vdc input - red
    • Home signal - yellow
    • 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 the 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 10k and for the bypass capacitor is 0.1uF to 1uF. The larger the capacitance, the better the noise filtering but the slower the response time.

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.