Simplifying Motion Control
Fri Nov 03 2017ZABER TECHNOLOGIES INC.
X-MCB1 Series User's Manual
Single axis stepper motor controllers (chopper drive) with I/O
IZABER 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. Motor Interface
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5.1.5. Inputs / Outputs
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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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8.2. Movement Speed
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9. Quick Command Reference
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9.1. ASCII Protocol
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9.1.1. Quick Commands
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9.1.2. Quick Device Settings
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9.2. Binary Protocol
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10. I/O Usage and Examples
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10.1. Digital Inputs
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10.2. Digital Outputs
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10.3. Analog Inputs
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11. Troubleshooting X-Series Motion Devices
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11.1. Front Panel Indicators
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11.2. Manual Control
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11.3. Unexpected Behaviour
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11.4. Communication Errors
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11.5. Slipping and Stalling
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12. Warranty and Repair
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12.1. Standard products
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12.2. Custom products
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12.3. How to return products
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13. Email Updates
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14. Contact Information
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15. Appendix A - Available Communications Ports
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15.1. Finding Installed Serial Ports
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15.1.1. Windows
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15.1.2. Linux
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15.1.3. OSX
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16. Appendix B - USB Driver Installation
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16.1. Compatible Devices
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16.2. Windows
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16.2.1. Download
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16.2.2. Windows Vista, 7 & 8
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16.2.3. Windows XP
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16.3. Linux
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16.4. OS X
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17. Product Drawing
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18. Specifications
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1. Disclaimer
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.
2. Precautions
The X-MCB1 controller is intended to drive a wide variety of stepper motors. If you are controlling
a third-party motor, you will need to configure settings to match the motor you are driving,
especially driver.current.run (T:38) and driver.current.hold (T:39). For a Zaber peripheral, simply
set the peripheralid (T:66) with the peripheral's ID number. See the detailed usage examples for
more information on how to modify the settings, particularly for non-Zaber peripherals. Damage to
the device may result if the settings are not correct.
WARNING: Serious damage can occur to stepper motor products when operated with
significantly higher-than-rated current. The X-MCB1 controller can provide up to 2A of current to a
peripheral. BEFORE CONNECTING A NEW DEVICE to the X-MCB1 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-MCB1 from the default values. To
put the X-MCB1 controller into safe-mode (low current) settings, configure the peripheralid (T:66)
setting to 0. If you have any questions, please contact Zaber Technical Support
3. 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.
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4. Quick Tutorial
We recommend using Zaber Console to communicate with the device(s). For other software
options, see the Software page. Please refer to the ASCII Protocol Manual and/or Binary Protocol
Manual for more detailed information on the available commands.
4.1. Initial Set-up
NOTE: Ensure no motors are connected to the controller before applying power for the first time. It
is important that the controller is set to control the correct peripheral ID in order to avoid sending
too much current to the motor. We try to set controllers 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 should
light up.
2. Download and install Zaber Console. Start Zaber Console and select 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.
3. From the Console, issue a renumber (T:2) command to all devices (Zaber Console may
prompt you to do this also). The first device in the chain (closest to the computer) will become
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Device 1, the next will become Device 2, and so on.
4. On the new unit, configure the peripheralid (T:66) setting of each axis in Zaber Console
with either the peripheralid setting in ASCII or the Peripheral Id setting in Binary. The
Peripheral ID for a Zaber peripheral can be found on it's label as the PID. Alternatively a full
list of Peripheral IDs can be found at: Zaber Support - Peripheral IDs. This step needs to be
performed whenever a new model of motorized peripheral is connected to the controller. If a
third-party peripheral is being driven, please contact Zaber Technical Support for assistance.
5. Connect the motorized peripherals.
6. Turn the knob to move a device. Most devices will only move in one direction until they
reach a home sensor at one limit of travel. Then they will move in both directions over full
travel.
4.2. Initialization
Every time the controller is powered up or reset, the motorized peripheral(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 a later time
without first having to home the axes.
4.3. Using the Device
Several commonly used ASCII commands, and their Binary equivalents, are shown below. For a
full list of available commands, please refer to the Command Reference section below.
Command Description
/1 1 get pos (T:60) Query the current position of Device #1 Axis
#1.
/1 1 move abs 10000 (T:20:10000) Move Device #1, Axis #1 to position 10000 microsteps.
/2 1 move rel -12800 (T:21:-12800) Move Device #2, Axis #1 in the negative direction by
12800 microsteps.
/1 stop (T:23) 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 (T:22:153600) 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.
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4.3.1. Modifying Device Settings
Here are some examples if you would like to customize particular device settings. Refer to the
ASCII Settings or Command Reference section for detailed descriptions of each setting.
Command Description
/1 set maxspeed 100000 (T:42:100000) Set the speed of all axes on the device.
/1 get maxspeed (T:53:42) Query the axes' speed.
/1 system restore (T:36) Restore all the settings of Device 1 to the default.
4.3.2. Built-In Help
Zaber X-Series devices feature a built-in help guide, providing a quick and easy reference 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 all devices
#01 0 '/1 stop' stop device number 1
#01 0 '/1 2 stop' stop device number 1 axis number 2
#01 0
#01 0 Type '/help commands' for a list of all top-level commands.
#01 0 Type '/help reply' for a quick reference on reply messages.
#01 0 Visit www.zaber.com/support for complete instruction manuals.
To access help for a specific command, for example the move command, send:
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/1 help move
@01 0 OK IDLE -- 0
#01 0 move abs {x} Move to absolute position
#01 0 move rel {x} Move by relative position
#01 0 move vel {x} Move at constant velocity
#01 0 move min Move to minimum position
#01 0 move max Move to maximum position
5. Device Overview
5.1. Connectors
All images are shown looking into the device.
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 isolated power supply, please ensure your device is grounded by connecting the
negative terminal of the power connector to AC Earth.
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5.1.2. RS-232 Communications
Pin Previous Next
1 Power Power
2 Ground Ground
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
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• USB 2.0 Full Speed
• Communications Device Class, Abstract Control Model
• Default Protocol: Zaber ASCII
• Supported Protocols: Zaber ASCII, Zaber Binary
5.1.4. Motor Interface
Pin Description
1 +5V
2 D Limit Sensor or Encoder Error
3 C Limit Sensor
4 Away Limit Sensor
5 Home Limit Sensor
6 Ground
7 Motor B1
8 Motor A1
9 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.
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5.1.5. Inputs / Outputs
Pin Description
1 Digital In 1
2 Digital In 2
3 Digital In Common
4 Digital Out 1
5 Digital Out 2
6 Digital Out Common
7 Analog In 1
8 Analog In 2
9 +5V
10 GND
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Digital I/O
Specifications Equivalent circuit
Maximum Input Voltage (per pin): 8.0V
Minimum Input Logic High Voltage: 1.5V
Maximum Output Current (per pin): 25mA
Maximum Switchable Voltage (per pin): 60V
Analog Input
Specifications Equivalent circuit
Absolute Maximum Input Range (per pin): 0V -
12.8V
Nominal Input Range (per pin): 0V - 10.0V
Resolution: 0.0125V
+5V Output
The +5V and GND connections can provide power for low-current I/O applications. The pins can
source up to 200 mA of current. If additional current is needed, an external power supply is
required. Note that this output is not isolated.
Mating Products
TE Connectivity 1-1986692-0 or 1-284506-0
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)
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• On: Device is moving, or data is being transferred.
• Blinking: Device is under manual control via the knob (in Velocity mode). The blinking rate
is proportional to movement speed.
• Blinking at fixed rate: Packet corruption has occurred for ASCII commands sent with a
checksum.
Blue - Slip/Stall (ENC)
• On: The device is slipping.
• On-Off cycle every 2 sec: The device has stalled and stopped.
• Flashes: The stationary device has been forced out of position (2 short flashes every 1
sec), or the encoder has encountered a read error and raised the FQ warning flag (5 short
flashes every 2 sec).
5.3. Communications
The X-MCB1 supports multiple communications interfaces and processes commands through the
currently active interface, which is determined by the interface priorities. Enabling or connecting a
higher priority interface will cause any commands received over the lower priority interface(s) to
be ignored.
Interface Priority
1. USB
2. RS232
Daisy Chaining
Daisy Chaining is supported from USB to RS232 Next and RS232 Prev to RS232 Next. In order to
chain from USB to RS232 the comm.usb.protocol setting must be the same as the
comm.rs232.protocol setting.
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6. Installation
The X-MCB1 can be connected to a computer as follows:
1. Plug the serial cable (X-SDC) into the computer's serial port and the device's Prev port.
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-MCB1, 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 device to the adaptor. For the USB
adaptor, new computers will often be able to install the necessary drivers automatically when
the cable is plugged in for the first time. If the computer reports that the driver installation was
unsuccessful, you can download the drivers for Windows, Mac, or Linux here. Installation
instructions and troubleshooting information are available for each operating system here.
You may need to use a cable extension to reach your computer. There is no need to
power-down or reboot the computer.
2. Connect the power plug of your power supply to the power connector of the unit. The
green LED should light up indicating the unit has power.
3. Additional devices can simply be daisy-chained to the first. See Daisy-Chaining Devices
below.
4. Install software from the Software page. For the initial setup, using Zaber Console is
recommended.
As a simple first test, try entering:
/renumber (T:2)
/1 home (T:1)
/1 move rel 10000 (T:21:10000)
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The parameter of 10000 in the move command above specifies 10000 microsteps. To see the
microstep size (default resolution) for the peripheral and how it translates to displacement, first go
to the product overview page, find your device, click through to the device's webpage, and 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
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 (T:2) command should be sent to prevent
device-address conflicts.
To daisy-chain X-Series devices with T-Series and A-Series devices:
• Ensure all devices are set to the same communication protocol and baud rate before
connecting them. If any T-Series devices will be in the chain, then the communication protocol
must be Binary at 9600 baud rate.
• Connect any X-Series devices at the start of the chain (closest to the computer). This
configuration will reduce the number of adaptor cables 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-chaining multiple series.
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6.2. Physical Installation
The X-MCB1 is designed to mount to 25mm or 2" pitch optical breadboards using M6 or 1/4"
screws, respectively, or for use on a desk or table. It can be mounted to a breadboard in two
configurations:
TIP: When mounting on-edge, it is easier to connect the cables nearest to the adapter plate after
mounting the unit to the optical breadboard.
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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.
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