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8.  Once a peripheral has been activated, either press the Home icon in Zaber Console or turn a knob on the X-

MCC to move the peripheral associated with that axis. Most Zaber positioners will only move at reduced 
speed in one direction until they reach a home sensor at one limit of travel. Then they will move in both 
directions over full travel. 

 

Initialization 

Always connect peripherals to the controller when the controller is not powered. Peripherals should not be 

connected or disconnected while the controller is powered on. 

Every time the controller is powered up or reset, you should return the motorized peripheral(s) to the home position. 

This is achieved by sending the 

home

 command to the individual device or all devices. Until this is done, most 

devices will only allow motion in one direction, towards the sensor. 

On stepper motor peripherals, a park command can be used to allow the device to be turned off and then used at a 

later time without the need to home the axis. See the 

tools parking

 command for details. 

Using the Device 

Several commonly used ASCII commands are shown below. For a full list of available commands, please refer to 

the 

Protocol Manual

. 

Command 

Description 

/1 1 get 

pos

 

Query the current position of Device #1 Axis #1. 

/1 1 

move abs

 10000

 

Move Device #1, Axis #1 to position 10000 increments. 

/2 1 

move rel

 -12800

 

Move Device #2, Axis #1 in the negative direction by 12800 increments. 

/1 

stop

 

Decelerate and stop ALL axes on Device 1. 
An axis number of 0 or no axis number implies all axes on the device, or the device 
itself. 

/

move vel

 153600   Move ALL devices and ALL axes in the positive direction at the speed 153600. 

A device address of 0 or no device address implies all devices in the chain. 

Modifying Device Settings 

Here are some examples if you would like to customize particular device settings. Refer to the 

Protocol Manual

 for 

detailed descriptions of each setting. 

Command 

Description 

/1 set 

maxspeed

 100000  

Set the speed of all axes on the device. 

/1 get 

maxspeed

 

Query the maximum speed of the axis. 

/1 

system restore

 

Restore all the settings of Device 1 to the default. 

 

 

Activating Peripherals 

 

Important:

 The X-MCC should always be powered down before disconnecting or connecting a peripheral 

device. 

Содержание X-MCC Series

Страница 1: ...ay result if the settings are not correct WARNING Serious damage can occur to peripheral devices when operated with significantly higher than rated current The X MCC controller can provide up to 6A of current to a peripheral BEFORE CONNECTING A NEW DEVICE to the X MCC controller it is important to set the correct parameters in the controller or ensure you are using an Auto Detect peripheral Zaber ...

Страница 2: ...the communications port the first controller is connected to For instructions on how to find the available communication ports on your system please refer to Appendix A Available Communications Ports 6 If multiple devices are detected Zaber Console may prompt you to renumber them The first device in the chain closest to the computer will become Device 1 the next will become Device 2 and so on 7 Wh...

Страница 3: ... for details Using the Device Several commonly used ASCII commands are shown below For a full list of available commands please refer to the Protocol Manual Command Description 1 1 get pos Query the current position of Device 1 Axis 1 1 1 move abs 10000 Move Device 1 Axis 1 to position 10000 increments 2 1 move rel 12800 Move Device 2 Axis 1 in the negative direction by 12800 increments 1 stop Dec...

Страница 4: ...t the end of the product name for example LAC10A T4 Once the peripheral ID is configured properly activate the peripheral either with the Activate button near the peripheral name in Zaber Console or by issuing the activate command to the axis Firmware Updates In order to allow access to new features and bug fixes this Zaber device can be updated remotely through Zaber Console Follow instructions h...

Страница 5: ...5 Home Limit Sensor 6 Motor Over Temperature 7 Ground 8 Motor A2 Motor V 9 Motor A1 Motor U 10 Differential Encoder A 11 Differential Encoder B 12 Differential Encoder Index 13 Differential Encoder Error 14 Single ended Encoder Index 15 5 V 16 Ground 17 Reserved 18 Motor B1 Motor W 19 Differential Encoder A 20 Differential Encoder B 21 Differential Encoder Index 22 Single ended Encoder A 23 Single...

Страница 6: ...ing this connector the four motor pins on the Sensor and 3 Amp Motor Interface must not be used E Stop Pin Description 1 E Stop Power 12 48 V 2 E Stop Ground 3 E Stop Override Input 4 E Stop Override Ground E Stop power inputs are optically isolated but E Stop override inputs are not For details on using the E Stop please refer to the dedicated Emergency Stop section USB Communications Specificati...

Страница 7: ...6692 5 Analog Inputs Output Pin Description 1 5 V 2 Ground 3 Analog In 1 4 Analog In 2 5 Analog In 3 6 Analog In 4 7 Ground 8 Analog Output Analog Input Specifications Equivalent circuit Absolute Maximum Input Range per pin 0 12 8 V Nominal Input Range per pin 0 10 0 V Resolution 0 001 V Analog Output Specifications Equivalent circuit Analog Output Range 0 10 V Resolution 2 5 mV Output Impedance 1...

Страница 8: ...should be connected to the two terminals provided The required regenerative power for a trapezoidal trajectory may be approximated as 3 m v a where m is the moving mass including the stage top v is the maximum trajectory velocity and a is the deceleration setting Please consult Zaber Technical Support to determine if your application may benefit from the addition of an external regen resistor Chas...

Страница 9: ...rst of 2 flashes every 1 second The stationary device has been forced out of position Burst of 5 flashes every 2 seconds The encoder has encountered a read error and raised the FQ or FA Warning Flag Communications The X MCC supports multiple communications interfaces and processes commands through the currently active interface which is determined by the interface priorities Enabling or connecting...

Страница 10: ...ogether 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 cabling demands In addition X Series devices carry power through the daisy chain so in most cases a power supply only needs to be connected to one device in the chain Whenever a device is added or removed from a chain a renumber command should b...

Страница 11: ... or table Breadboard mounting controller orientation In situations where mounting is not necessary 4 adhesive rubber feet are provided which can be applied to the underside of the unit to prevent it from sliding on the surface of a desk or table To apply the feet peel each from the protective backing and place them firmly in the corners on the underside of the unit Manual Control Most X Series mot...

Страница 12: ...han knob distance move increments to the end of travel and another move is requested the device will move to the end of travel and then stop Summary of knob functionality Turning the knob Moves the device in the direction of knob turn Pressing the knob Decelerates and stops the device identical to a stop command Instantly stops the axis if the axis is already decelerating Warning Stopping instantl...

Страница 13: ...d setting I O Usage and Examples The X MCC features a range of flexible input and output options that can be easily examined and controlled from user software The input and output capabilities of the X MCC can also be used with triggers to perform actions based on the current value of the I O channel To minimize the number of power supplies needed the on board 5 V and GND connections can be used a...

Страница 14: ...hether your common line is connected to ground or a positive voltage active might mean a high or a low voltage level The second command queries a specific input on the device in this case input 1 which is inactive Digital Outputs All digital outputs on the X MCC are fully optoisolated and capable of sinking 15 mA each at up to 50 V The first example circuit below shows how to drive an LED from one...

Страница 15: ...d to Analog Inputs The analog inputs on the X MCC accept and display voltages in the range of 0 10 V In order to measure other analog variables a transducer or sensor is required that outputs an appropriate voltage range As transducers typically provide low voltage signals an amplifier and buffer circuit is required to interface a transducer to the X MCC The reference circuit below demonstrates ho...

Страница 16: ...et point floored to three decimal places Emergency Stop The X MCC is equipped with an optional 4 pin Emergency Stop input A voltage between 12 24 V must always be applied to the two E stop power inputs When the E stop input is de energized the X MCC produces a Safe Torque Off STO response on all motion axes STO is characterized by removing power from the motor ie disabling the driver and allowing ...

Страница 17: ...onds then release The device has been returned to its factory defaults and can be configured as per the steps in Initial Setup Front Panel Indicators Green LED on The device is powered on and is operating normally Green LED fades in and out stepper motor peripherals only The device is parked Issue a tools parking unpark command or home the device Green LED flashes slowly The operating conditions o...

Страница 18: ...it or sending the system reset command then re initialize it with the home command The device is moving very slowly It used to move faster The speed settings may have been changed inadvertently Send a system restore command The device makes louder than normal noise during travel and is frequently slipping This condition happens if the thrust needed is more than the thrust available from the device...

Страница 19: ...does not transmit anything else while the devices renumber If the problem is encountered when trying to control the device with custom software Use a demo program from the Zaber website to verify that the hardware is functioning properly Make sure that the receiving part of the code or commercial package is correct Check the serial port settings are correct Check connectors for bent or broken pins...

Страница 20: ... 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 ...

Страница 21: ...he permissions given below show that a user has to be root or a member of the dialout group to be able to access these devices crw rw 1 root dialout 4 64 Oct 31 06 44 dev ttyS0 crw rw 1 root dialout 4 68 Oct 31 06 45 dev ttyS4 crw rw 1 root dialout 188 0 Oct 31 07 58 dev ttyUSB0 3 Checking group membership groups o The output will be similar to the following adm cdrom sudo dip plugdev users lpadmi...

Страница 22: ...nnect one of Zaber s X USBDC T USBDC or T USB serial to USB adaptors go to the Software page for instructions Windows Prior to Windows 10 a driver was required for the USB connection to operate correctly With Windows 10 installing the driver is not necessary but can be done so that the name of the controller is identified along side the COM port Download 1 Download the driver here Zaber Integrated...

Страница 23: ...3 Right click on this entry and select Update Driver 4 Choose Browse my computer for driver software 5 Click the Browse button and select the location where you extracted the driver to ...

Страница 24: ...t 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 entry with the name of the Zaber controller that is connected 4 Right click on this entry and select Upda...

Страница 25: ...5 Choose Browse my computer for driver software 6 Click the Browse button and select the location where you extracted the driver to 7 Click Next ...

Страница 26: ...is now available and should appear in the Ports COM LPT section of the Device Manager 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 ...

Страница 27: ...he 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 4 Click the Browse button and select the location where you extracted the driver to 5 Click Next ...

Страница 28: ...ce Class CDC devices are supported in kernel 2 4 and above through the cdc_acm module No special configuration or drivers are needed The controller will appear as a ttyACMx device The kernel log available through dmesg details the device detection and the assigned device in this case dev ttyACM0 94929 668171 usb 3 4 1 3 new full speed USB device number 92 using xhci_hcd ...

Страница 29: ...939 0x49c1 sys bus usb drivers cdc_acm new_id X MCB2 FW7 echo 0x2939 0x49b2 sys bus usb drivers cdc_acm new_id X MCB1 FW7 echo 0x2939 0x49b1 sys bus usb drivers cdc_acm new_id X MCB2 FW6 echo 0x2939 0x495b sys bus usb drivers cdc_acm new_id X MCB1 FW6 echo 0x2939 0x495a sys bus usb drivers cdc_acm new_id A MCB2 echo 0x2939 0x459 sys bus usb drivers cdc_acm new_id Note In some configurations modem ...

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Страница 32: ...e 100 Ω 5 V Power Out Current Rating 200 mA E Stop Input Range 12 48 V External Regen Resistor 5 Ω 300 W 2D Primitives Supported Lines Arcs Circles Comparison Part Number Axes of Motion Weight X MCC1 1 0 5 kg 1 102 lb X MCC2 2 0 7 kg 1 543 lb X MCC3 3 0 9 kg 1 984 lb X MCC4 4 1 1 kg 2 425 lb This product uses the FreeRTOS kernel FreeRTOS is 2020 Amazon com Inc or its affiliates and is governed by ...

Страница 33: ...otice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO...

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