Zaber X-MCB2 Series User Manual Download Page 2

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ZABER TECHNOLOGIES INC.

Table of Contents

1. Disclaimer

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2. Precautions

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3. Conventions used throughout this document

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4. Quick Tutorial

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4.1. Initial Set-up

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4.2. Initialization

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4.3. Using the Device

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4.3.1. Modifying Device Settings

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4.3.2. Built-In Help

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5. Device Overview

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5.1. Connectors

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5.1.1. Power

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5.1.2. RS-232 Communications

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5.1.3. USB Communications

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5.1.4. RS485 Communications

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5.1.5. Motor Interface

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5.1.6. Digital Inputs/Outputs

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5.1.7. Analog Inputs

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5.2. Indicators

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5.3. Communications

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6. Installation

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6.1. Daisy-Chaining Devices

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6.2. Physical Installation

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7. Manual Control

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7.1. Velocity Mode

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7.2. Displacement Mode

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7.3. Summary of knob functionality

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8. Trajectory Control and Behaviour

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8.1. Software Position Limits

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Summary of Contents for X-MCB2 Series

Page 1: ...Simplifying Motion Control Fri Nov 03 2017 ZABER TECHNOLOGIES INC X MCB2 Series User s Manual Dual axis stepper motor controllers chopper drive with I O ...

Page 2: ...Power 5 1 2 RS 232 Communications 5 1 3 USB Communications 5 1 4 RS485 Communications 5 1 5 Motor Interface 5 1 6 Digital Inputs Outputs 5 1 7 Analog Inputs 5 2 Indicators 5 3 Communications 6 Installation 6 1 Daisy Chaining Devices 6 2 Physical Installation 7 Manual Control 7 1 Velocity Mode 7 2 Displacement Mode 7 3 Summary of knob functionality 8 Trajectory Control and Behaviour 8 1 Software Po...

Page 3: ...d Behaviour 11 4 Communication Errors 11 5 Slipping and Stalling 12 Warranty and Repair 12 1 Standard products 12 2 Custom products 12 3 How to return products 13 Email Updates 14 Contact Information 15 Appendix A Available Communications Ports 15 1 Finding Installed Serial Ports 15 1 1 Windows 15 1 2 Linux 15 1 3 OSX 16 Appendix B USB Driver Installation 16 1 Compatible Devices 16 2 Windows 16 2 ...

Page 4: ...III ZABER TECHNOLOGIES INC 16 3 Linux 16 4 OS X 17 Product Drawing 18 Specifications 54 55 56 57 ...

Page 5: ...an occur to stepper motor products when operated with significantly higher than rated current The X MCB2 controller can provide up to 2A of current to a peripheral BEFORE CONNECTING A NEW DEVICE to the X MCB2 controller it is important to set the correct motor parameters in the controller Please check the rated current for any peripheral device before changing the current settings on the X MCB2 fr...

Page 6: ...for the peripherals they ship with but it s good to check that they are correct especially if you receive multiple peripherals of different models 1 Power up all integrated devices and controllers and daisy chain them together using the RS 232 Prev and Next connectors see Daisy Chaining Devices for more details Many products share power through the daisy chain cables The power indicator on each sh...

Page 7: ...heral s should be returned to the home position This is achieved by sending the home T 1 command to the individual unit or all units Until this is done most devices will only allow motion in one direction towards the sensor If it is not possible in your application to home the device after every power up see the tools parking T 65 command Parking allows the device to be turned off and then used at...

Page 8: ...ce for all Commands and Settings that the device has To access the help send 1 help for help with Device 1 The device number must be specified in the help command This feature is only available in the ASCII protocol The device will respond with a detailed description on how to access specific information about commands and replies as shown below 01 0 OK IDLE WR 0 01 0 COMMAND USAGE 01 0 stop stop ...

Page 9: ...evice 5 1 1 Power Pin Description 1 24 48V 2 GND Note Zaber s power supplies ground this pin to AC Earth Note To prevent damage to the device due to static buildup the device should be properly grounded The power supplies Zaber provides for X Series devices are non isolated and thus ground the device chassis to Earth via the negative terminal of the power supply If for any reason you are using an ...

Page 10: ...round 3 Receive Transmit 4 Transmit Receive Default Settings Baud Rate 115200 Protocol Zaber ASCII Specifications Supported Protocols Zaber ASCII Zaber Binary Supported Baudrates 9600 19200 38400 57600 115200 Bits 8 Parity None Stop Bits 1 Flow Control None 5 1 3 USB Communications Specifications ...

Page 11: ...ng 4 GND Default Settings Baud Rate 115200 Protocol ASCII Specifications Supported Protocols Zaber ASCII Supported Baudrates 1200 4800 9600 19200 38400 57600 115200 Bits 8 Parity None Stop Bits 1 Flow Control None Mating Products Manufacturer Part Number Digikey Mouser Newark TE Connectivity 284506 4 A98375 ND 571 2845064 12H8898 NOTE When using the RS485 interface the device will execute any glob...

Page 12: ... Encoder 5V 10 Encoder A 11 Encoder B 12 Encoder Index 13 Encoder Ground 14 Motor B2 15 Motor A2 NOTE The limit sensor inputs are pulled up to the internal supply rail and are designed to be pulled low by an open collector NOTE All sensor and encoder inputs are non isolated 5V TTL lines 5 1 6 Digital Inputs Outputs Pin Description 1 Digital In 1 2 Digital In 2 3 Digital In 3 4 Digital In 4 ...

Page 13: ...9 ZABER TECHNOLOGIES INC 5 Digital In Common 6 Digital Out 1 7 Digital Out 2 8 Digital Out 3 9 Digital Out 4 10 Digital Out Common ...

Page 14: ... per pin 8 0V Minimum Input Logic High Voltage 1 5V Maximum Output Current per pin 25mA Maximum Switchable Voltage per pin 60V Mating Products TE Connectivity 284506 5 or 1986692 5 5 1 7 Analog Inputs Pin Description 1 5V 2 GND 3 Analog In 1 4 Analog In 2 5 Analog In 3 6 Analog In 4 ...

Page 15: ...4506 6 or 1986692 6 5 2 Indicators Green Power PWR On Controller is operational Blinking at 2Hz The power supply voltage or device temperature is out of range Fading in and out slowly The device is parked See the tools parking T 65 command Red Error ERR On blinking Device has lost its settings or an error has occurred Please contact Zaber Technical Support Yellow Communication Busy MOT On Device i...

Page 16: ...Alternatively connect the USB cable U DC06 to the device and your computer instead In order to use the integrated USB port on the X MCB2 it is necessary to first install the appropriate USB driver See Appendix B for instructions Either plug the M8 to D SUB serial adaptor X SDC into the computer s serial port or the M8 to USB adaptor X USBDC into one of your computer s USB ports then attach the dev...

Page 17: ... click on the Series Specs tab The microstep size default resolution will be shown in the list of product specs either in the Group Specifications section or the Comparison section 6 1 Daisy Chaining Devices Multiple devices can be connected together in a chain through the Prev and Next connectors This allows any number of devices to be controlled from a single connection to a computer reducing ca...

Page 18: ...ables required Connect a T XDC or S XDC for daisy chaining an A MCB2 adaptor cable to the Next port of the last X Series device in the chain and to the Prev port of the T Series or A Series device Power supplied to an X Series device will not be transmitted to any T Series or A Series devices in the chain Contact Zaber Technical Support for assistance selecting connecting cables when daisy chainin...

Page 19: ...15 ZABER TECHNOLOGIES INC TIP When mounting on edge it is easier to connect the cables nearest to the adaptor plate after mounting the unit to the optical breadboard ...

Page 20: ...al Control Most X Series motion control products have an integrated depressible knob with 20 detents per revolution allowing devices to be controlled without the use of a computer There are two manual movement modes available Velocity and Displacement Switch between these modes by holding down the knob for 1 second or by configuring the knob mode T 109 setting On power up the device will only trav...

Page 21: ...f knob distance T 110 is set to 0 each detent of the knob will move to the next index position similar to move index T 78 movements The device moves at the speed specified by the maxspeed T 42 setting or the slower of maxspeed T 42 and limit approach maxspeed T 41 if the device has not been homed If there are fewer than knob distance T 110 microsteps to the end of travel and another move is reques...

Page 22: ...tus and various speed settings If the device has not been initialized by the home T 1 command or by moving towards the home end of the device movement speed will be constrained to fail safe values The home status of the device can be determined by reading the limit sensor triggered T 53 setting the binary command additionally requires a value of 103 Movement speed of the device is specified below ...

Page 23: ... the parameters in the set need to be provided Command Scope Parameter s Returns Firmware Versions Description calibration Device Refer to the documentation 0 6 24 Configure linear encoder calibration estop Axis 0 6 06 Instantly stops motorized movement get Device and Axis setting value 6 06 Retrieves the current value of the device or axis setting help Device commands reply warnflags enums comman...

Page 24: ...ted to streamed interpolated motion system reset Device 0 6 06 Resets the device as it would appear after power up system restore Device 0 6 06 Restores common device settings to their default values tools echo Device message 0 6 06 Echoes the provided message if any back to the user tools findrange Axis 0 6 10 Uses the home and away sensors to set the valid range of the axis tools gotolimit Axis ...

Page 25: ...The settings listed below can be inspected and modified with the get and set commands described above Setting Scope Writable Firmware Versions Description accel Axis Yes 6 06 Sets the acceleration used to modify the speed calibration type Axis No 6 24 The type of calibration saved for the axis cloop counts Axis Yes 6 06 The number of counts generated by the encoder for one full revolution cloop di...

Page 26: ... in 20 mA DC increments driver current max Axis No 6 16 Maximum legal value of driver current hold and driver current run driver current run Axis Yes 6 06 Current used to drive the motor in 14 1 mA RMS 20 mA peak increments driver dir Axis Yes 6 06 Reverse the motor driver output direction driver temperature Axis No 6 06 The current temperature of the axis driver in degrees Celsius encoder count A...

Page 27: ...ed when stopping after a limit sensor has triggered limit detect maxspeed Axis Yes 6 06 Maximum speed used when moving away from a limit sensor limit home action Axis Yes 6 06 Automatic limit switch action limit home edge Axis Yes 6 06 Sensor edge to align action to limit home pos Axis Yes 6 06 The updated position of the sensor when triggered limit home posupdate Axis Yes 6 06 Position update to ...

Page 28: ...n limit d edge Axis Yes 6 06 Sensor edge to align action to limit d pos Axis Yes 6 06 The updated position of the sensor when triggered limit d posupdate Axis Yes 6 06 Position update to occur when sensor is triggered limit d preset Axis Yes 6 06 The default position of the d limit sensor limit d state Axis No 6 06 The state of the d limit sensor limit d triggered Axis No 6 06 Whether the d limit ...

Page 29: ...stream numbufs Device No 6 14 The number of stream buffers provided in the device stream numstreams Device No 6 14 The number of streams provided in the device system access Device Yes 6 06 Sets the access level of the user system axiscount Device No 6 06 The number of axes in the device system current Device No 6 06 The current being drawn by the device and motors system led enable Device Yes 6 0...

Page 30: ... Data Move Tracking 8 n a Reply Tracking Position Limit Active 9 n a Reply Final Position Manual Move Tracking 10 n a Reply Tracking Position Manual Move 11 n a Reply Final Position Slip Tracking 12 n a Reply Tracking Position Unexpected Position 13 n a Reply Final Position Store Current Position 16 Address Command Address Return Stored Position 17 Address Command Stored Position Move To Stored Po...

Page 31: ...Command Setting Value Return Status 54 Ignored Read Only Setting Status Echo Data 55 Data Command Data Return Firmware Build 56 Ignored Read Only Setting Build Number Return Current Position 60 Ignored Read Only Setting Position Return Serial Number 63 Ignored Read Only Setting Serial Number Set Park State 65 Park State Setting Position Set Peripheral ID 66 Peripheral ID Setting Peripheral ID Retu...

Page 32: ...ration Type Return Calibration Error 85 Ignored Read Only Setting Calibration Error Set Peripheral Serial Number 86 Peripheral Serial Number Setting Peripheral Serial Number Set Auto Reply Disabled Mode 101 Auto Reply Mode Setting Auto Reply Mode Set Message ID Mode 102 Message ID Mode Setting Message ID Mode Set Home Status 103 Home Status Setting Home Status Set Home Sensor Type 104 Home Sensor ...

Page 33: ...ce Direction 121 Direction Setting Direction Set Baud Rate 122 Baud Rate Setting Baud Rate Set Protocol 123 Protocol Setting Protocol Convert To Ascii 124 Baud Rate Command Baud Rate Error 255 n a Reply Error Code The settings for these commands are saved in non volatile memory i e the setting persists even if the device is powered down To restore all settings to factory default use command 36 10 ...

Page 34: ...e application Each digital input contains an internal current limiting resistor of 442 ohms While this value is suitable for driving the inputs with 5V as shown in the circuit above higher voltages will require the addition of a series resistor A list of recommended values for the external resistor and example circuit are shown below V_SUPP V R_EXT Ohms Power mW 0 8 0R n a 8 15 500R 125mW 15 24 15...

Page 35: ...nd queries a specific input on the device in this case input 1 which is low 10 2 Digital Outputs All digital outputs on the X MCB2 are fully optoisolated and capable of sinking 15mA each at up to 50V The first example circuit below shows how to drive an LED from one of the digital outputs In order to switch loads with a higher current draw for example a relay an external switching transistor is re...

Page 36: ...s required to get TTL signal levels from the X MCB2 as shown below The 74LS04 contains 6 inverters so it is possible to convert all of the digital outputs with one IC In order to maintain isolation it is recommended that the 5V and GND supply connections come from the device requiring the TTL signalling It is however possible to use the 5V and GND connections from the Analog Output connector on th...

Page 37: ... how to connect a wheatstone bridge to one of the analog inputs on the X MCB2 Various instruments are configured in a wheatstone bridge arragement including load cells and strain guages R_GAIN s value should be chosen so that a positive full scale of the instrument produces 10V at the analog input of the X MCB2 and a negative full scale produces 0V The OP97 op amp provides an offset of 5V to the a...

Page 38: ...ically a manual factory reset can be performed through the following steps Note that this will reset most settings 1 Power Off the device 2 Push and hold the knob for the first Axis if applicable 3 Power On the device 4 Continue to hold the knob in until the blue LED is lit 5 seconds then release The device has been returned to its factory defaults and can be configured as per the steps in Initial...

Page 39: ...rational range of the device This can be read from the device with the get system voltage command The device temperature is within range This can be read from the device with the get system temperature command The driver is not disabled If the driver is disabled the result of the warnings command will contain the FD flag Green LED Off The device is not powered Check the supply connections and powe...

Page 40: ...nst the ends of travel The position encoder has de synchronized Reset the device by power cycling it or sending the system reset T 0 command then re initialize it with the home T 1 command The device is moving very slowly It used to move faster The speed settings may have been changed inadvertently Send a system restore T 36 command The device makes louder than normal noise during travel and is fr...

Page 41: ...the Yellow LED does not come on or flash There are several things that should be checked Make sure the correct serial port is selected Try selecting other serial ports in the software Check the baud rate hand shaking parity stop bit etc when configuring the serial communications software The required settings are listed in the RS 232 Communications section above Make sure there are no bent pins in...

Page 42: ... port is not configured with a termination character it often defaults to linefeed If problems are encountered when using custom software try using one of the demo programs from the Zaber website to verify that the hardware works The device does not behave as expected when software sends it a series of commands The computer might be set to Unicode This is common for languages that use non Latin ba...

Page 43: ...stalling Try removing all external loads If the device now extends and retracts normally the problem is excessive load Try to reduce the load and ensure the load is less than the maximum thrust A higher thrust or torque can be achieved by lowering the speed of the device using the maxspeed T 42 setting If a device is stalling with no external load at default speed and acceleration settings then it...

Page 44: ...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 13 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 o...

Page 45: ...INC 15 Appendix A Available Communications Ports 15 1 Finding Installed Serial Ports 15 1 1 Windows 1 Open Search or Run from the Start Menu or Taskbar type Device Manager and press enter 2 Expand the Ports COM LPT category ...

Page 46: ... command dmesg grep E ttyU S The response will be similar to the following 2 029214 serial8250 ttyS0 at I O 0x3f8 irq 4 is a 16550A 2 432572 00 07 ttyS0 at I O 0x3f8 irq 4 is a 16550A 2 468149 0000 00 03 3 ttyS4 at I O 0xec98 irq 17 is a 16550A 13 514432 usb 7 2 FTDI USB Serial Device converter now attached to ttyUSB0 This shows that there are 3 serial ports available ttyS0 ttyS4 and ttyUSB0 a ...

Page 47: ...mbashare Notice that dialout is not in the list A user can be added to the dialout group with the following command sudo adduser USER dialout Group membership will not take effect until the next logon 15 1 3 OSX 1 Finding devices Open a terminal and execute the following command ls dev cu serial The response will be similar to the following dev cu usbserial FTB3QAET dev cu usbserial FTEJJ1YW This ...

Page 48: ...nected and configured following the instructions on this page they will create a virtual serial COM port on your computer for communication If you are trying to connect one of Zaber s X USBDC T USBDC or T USB serial to USB adaptors go to the Software page for instructions 16 2 Windows Microsoft Windows requires a driver to be installed for the USB connection to operate correctly ...

Page 49: ... your version of Windows 16 2 2 Windows Vista 7 8 1 Windows will detect the device connection and attempt to automatically install drivers After a minute or so this will fail with a message that the device is not working correctly Continue on with the steps below 2 Right click on My Computer and select Manage 3 Select Device Manager from the list on the left Under Other devices you should see an e...

Page 50: ...46 ZABER TECHNOLOGIES INC 5 Choose Browse my computer for driver software ...

Page 51: ...47 ZABER TECHNOLOGIES INC 6 Click the Browse button and select the location where you extracted the driver to ...

Page 52: ...48 ZABER TECHNOLOGIES INC 7 Click Next ...

Page 53: ...49 ZABER TECHNOLOGIES INC 8 Click Install 9 Click Close Your controller is now available and should appear in the Ports COM LPT section of the Device Manager ...

Page 54: ...50 ZABER TECHNOLOGIES INC 16 2 3 Windows XP 1 Windows will automatically detect the connection of the controller 2 Once the New Hardware Found wizard starts select No not this time and click next ...

Page 55: ...r and select Manage 2 Select Device Manager from the list on the left 3 Under Unknown Devices you should see an entry with the name of the Zaber controller that is connected 4 Right click on this entry and select Update Driver 3 Select Install from a specific location and click Next ...

Page 56: ...52 ZABER TECHNOLOGIES INC 4 Click the Browse button and select the location where you extracted the driver to 5 Click Next ...

Page 57: ...53 ZABER TECHNOLOGIES INC 6 Select Continue Anyway 7 Click Finish Your controller is now available and should appear in the Ports COM LPT section of the Device Manager ...

Page 58: ...his case dev ttyACM0 94929 668171 usb 3 4 1 3 new full speed USB device number 92 using xhci_hcd 94929 686563 usb 3 4 1 3 New USB device found idVendor 2939 idProduct cafe 94929 686572 usb 3 4 1 3 New USB device strings Mfr 1 Product 2 SerialNumber 3 94929 686577 usb 3 4 1 3 Product X MCB2 94929 686581 usb 3 4 1 3 Manufacturer Zaber Technologies Inc 94929 686585 usb 3 4 1 3 SerialNumber 1 94929 68...

Page 59: ... modem manager will try to query the device when it is connected This won t affect device operation but can cause the port to be unavailable for several seconds 16 4 OS X USB Communications Device Class CDC devices are supported in 10 5 and above No special configuration or drivers are needed The controller will appear as a tty usbmodem device The kernel log available through dmesg details the dev...

Page 60: ...56 ZABER TECHNOLOGIES INC 17 Product Drawing ...

Page 61: ...tion D Sub 15 female Default Resolution 1 64 of a step Data Cable Connection Locking 4 pin M8 USB B Buchanan 4 pin 3 5 mm Manual Control Indexed knobs with push switches Axes of Motion 2 LED Indicators Power Error Motor 1 Encoder 1 Motor 2 Encoder 2 Operating Temperature Range 0 to 50 C RoHS Compliant Yes CE Compliant Yes Limit Sensors per Axis 4 Isolated Digital Input 4 Isolated Digital Output 4 ...

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