NM Product User`s Manual Firmware 5.00 and up Last Update
Contents
1. Pinout for D sub 15 Connectors A series and X Seriescontrollers and peripherals 8 4 4 FEMALE MALE CONNECTOR CONNECTOR BLU PIN 3 BRN PIN 1 BLK PIN 4 NM Home Sensor Wiring A Hall effect sensor is mounted in the device for use as a home sensor It is part number A1122LUA 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 4 3 6 24 Vdc input red Home signal yellow 4 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 Vs Rios Output 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 Rj gap is 10k and for the bypass capacitor is 0 1uF to luF The larger the capacitance the better the noise filtering but the slower the response time NM T4 Home Sensor Wiring 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 th2. 24 V Recommended um A 1 De 670 mA phase NMIIAS T4 X MCBI 24 V Recommended Herd 5 3 en 670 mA phase NMIICD T4 X MCBI 24 V Recommended 14600 deg s oem 670 mA phase a 2 433 4 rpm 12 2 oz in Comparison NM Series Comparison NM Series 14600 deg s 8 6 N cm NMIICS T4 X MCBI 24 V Recommended 2 433 4 rpm 12 Dorm 670 mA phase p 14600 deg s 14 4 N cm NMIZAD T4 X MCBI 48 V Recommended 2 433 4 rpm 20 4 oz in 670 mA phase z 14600 deg s 14 4 N cm NMIZAS T4 X MCBI 48 V Recommended 2 433 4 rpm 20d oz in 670 mA phase A 8030 deg s 25 2 N cm NMI7CD T4 X MCBI 48 V Recommended 1 338 4 rpm 35 1 02 m 850 mA phase E 8030 deg s 25 2 N cm NMI7CS T4 X MCBI 48 V Recommended 1 338 4 rpm 35 7 oz in 850 mA phase v 8030 deg s 32 4 N cm NM23AD T4 X MCBI 48 V Recommended 1 338 4 rpm AS oc 710 mA phase E 8030 deg s 32 4 N cm NM23AS T4 X MCBI 48 V Recommended 1 338 4 rpm CAS Dari 710 mA phase 5110 deg s 117 9 N cm NM23CD T4 X MCBI 48 V Recommended 851 7 rpm C167 orit 710 mA phase z 5110 deg s 117 9 N cm NM23CS T4 X MCBI 48 V Recommended 851 7 rpm 167 0070 710 mA phase n 6570 deg s 196 2 N cm NM34AD T4 X MCBI 48 V Recommended 1 095 0 rpm 277 8 oz in 1400 mA phase 6570 deg s 196 2 N cm NM34AS T4 X MCBI 48 V Recommended 1 095 0 rpm 271 8 oz in 1400 mA phase 1020 deg s 557 N cm NM34CD T4 X MCBI 48 V Recommended 170 0 rpm 788 9 oz
3. 0 250 6 35 mm 0 250 6 35 mm 0 250 12 7 mm 0 500 12 7 mm 0 500 12 7 mm 0 500 12 7 mm 0 500 4 114 40 tapped holes 31 mm apart 4 114 40 tapped holes 31 mm apart 4 114 40 tapped holes 31 mm apart 4 114 40 tapped holes 31 mm apart 4 holes 4 75 mm dia 47 14 mm apart 4 holes 4 75 mm dia 47 14 mm apart 4 holes 4 75 mm dia 47 14 mm apart 4 holes 4 75 mm dia 47 14 mm apart 4 holes 6 5 mm dia 69 58 mm apart 4 holes 6 5 mm dia 69 58 mm apart 4 holes 6 5 mm dia 69 58 mm apart 4 holes 6 5 mm dia 69 58 mm apart Z Z Z Z z Z Z Z Z Z Z Z LG Z z Comparison NM Series M11AS T4 M11CD T4 M11CS T4 M17AD T4 M17AS T4 M17CD T4 q Q L qx E E CG gt lw qx M23AS T4 M34CD T4 M34CS T4 0 12 kg 0 21 kg 0 21 kg 0 22 kg 0 22 kg 0 36 kg 0 36 kg 0 46 kg 0 46 kg 1 01 kg 1 01 kg 1 71 kg 1 71 kg 3 81 kg 3 81 kg
4. 21 6 mH phase 56 0 mH phase 56 0 mH phase 30 8 mH phase 30 8 mH phase 76 8 mH phase 76 8 mH phase 5 Watts 8 3 Watts 8 3 Watts 7 6 Watts 7 6 Watts 9 6 Watts 9 6 Watts 11 4 Watts 11 4 Watts 17 2 Watts 17 2 Watts 17 6 Watts 17 6 Watts 30 4 Watts 30 4 Watts Motor Shaft Diameter 4mm 0 157 4mm 0 157 4mm 0 157 4mm 0 157 5mm 0 197 5mm 0 197 5mm 0 197 9 g cm 2 18 g cm 2 18 g cm 2 35 g cm 2 35 g cm 2 68 g cm 2 68 g cm 2 120 g cm 2 120 g cm 2 475 g cm 2 475 g cm 2 1400 g cm 2 1400 g cm 2 4000 g cm 2 4000 g cm 2 Mounting Interface 4 M2 tapped holes 16 mm apart 4 M2 tapped holes 16 mm apart 4 M2 tapped holes 16 mm apart 4 M2 tapped holes 16 mm apart 4 M2 5 tapped holes 23 mm apart 4 M2 5 tapped holes 23 mm apart 4 M2 5 tapped holes 23 mm apart 4 M2 5 tapped holes 23 mm apart NM17AD T4 NMIZAS T4 NM17CD T4 NM17CS T4 NM23AD T4 NM23AS T4 NM23CD T4 NM23CS T4 NM34AD T4 NM34AS T4 NM34CD T4 NM34CS T4 Part Number NMO8AD T4 NMO8AS T4 NMO8BD T4 NMO8BS T4 NMIIAD T4 Comparison NM Series 17 17 17 23 23 23 23 34 34 34 34 Weight 0 07 kg 0 07 kg 0 07 kg 0 07 kg 0 12 kg Double Single Double Single Double Single Double Single Double Single Double Single 5mm 0 197 5mm 0 197 5mm 0 197 5mm 0 197 5mm 0 197 6 35 mm 0 250 6 35 mm
5. in 1400 mA phase 1020 deg s 557 1 N cm NM34CS T4 X MCBI1 48 V Recommended 170 0 rpm 788 9 oz in 1400 mA phase Part Number Motor Winding Resistance Inductance Motor Rated Power Motor Rotor Inertia NMO8AD T4 6 5 ohms phase 1 7 mH phase 4 7 Watts 2 g cm 2 NMO8AS T4 6 5 ohms phase 1 7 mH phase 4 7 Watts 2 g cm 2 NMO8BD T4 5 4 ohms phase 1 5 mH phase 6 9 Watts 2 g cm 2 NMO8BS T4 5 4 ohms phase 1 5 mH phase 6 9 Watts 2 g cm 2 NMIIAD T4 5 6 ohms phase 4 0 mH phase 5 Watts 9 g cm 2 LZ iIMITAS TA M11CD T4 YM11CS T4 M17AD T4 YM17AS T4 M17CD T4 Z Z Z Z Z Z Z EE N es gt z q Q L qx qx Z Z zZ N LA gt ue q YM23CD T4 z IND LA Q in l I kd qu Z Z LA BOE p o GA Nn qx M34CD T4 iM34CS T4 Part Number LZ Z NMO8AD T4 NMO8AS T4 NMO8BD T4 NMO8BS T4 NMIIAD T4 NMIIAS T4 NM11CD T4 NM11CS T4 5 6 ohms phase 9 2 ohms phase 9 2 ohms phase 8 4 ohms phase 8 4 ohms phase 6 6 ohms phase 6 6 ohms phase 11 4 ohms phase 11 4 ohms phase 17 2 ohms phase 17 2 ohms phase 4 4 ohms phase 4 4 ohms phase 7 6 ohms phase 7 6 ohms phase Motor Frame Size 08 08 08 08 11 11 11 11 Comparison NM Series Motor Shaft Style Double Single Double Single Double Single Double Single 4 0 mH phase 5 6 mH phase 5 6 mH phase 10 0 mH phase 10 0 mH phase 11 2 mH phase 11 2 mH phase 21 6 mH phase
6. manually setting the initial position through the pos T 45 setting Note that if the position is not set manually or the device is not homed the device will remain in unhomed mode and move at the slower of limit approach maxspeed T 41 or maxspeed T 42 during position move commands Home Sensor 6 Operation The NM T4 is designed to be controlled with any of Zaber s X Series or A Series Stepper Motor Controllers The older NM is designed to be controlled with the T MCA series controller 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 1 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 For reference the pinout for the motor cable connectors is shown below Pinout for D sub 15 Connectors A series and X Series controllers and peripherals A or X series controller female T3 Peripheral male T4 Peripheral male Pin Function 5V Encoder Error reserved Away Sensor Home Sensor Ground Motor B1 Motor Al 5V loja NIB vo NO JR Operation 10 Encod
7. NM Product User s Manual Firmware 5 00 and up Last Update December 10 2015 Visit www zaber com wiki for more recent updates Zaber Technologies Inc 2 605 West Kent Ave N Vancouver British Columbia Canada V6P 6T7 Table of Contents UEM PTS ERREUR ROO PR CIE UP EN 1 Conventions used throughout this documenht esse ss eee ee eee esee ee eee eene seen sees secos enso essen eers 2 Ld Ie LET TREO IE RI NE 3 Noise BE 4 Installation assess E A E soneca DIT OON LIPS INED PE 5 HOME SENSOR CCS LOTTERY 6 0 115 pe EE 7 Pinout for D sub 15 Connectors A series and X Series controllers and peripherals 7 Pin Out for Minidin 8 T MCA connector and CDC6 cable to Peripheral ssssse 8 Alternate Controllers 4 reet eter die ENTE ve EE ees ete vetet aaa CEE EE tthe Bee 8 NM 14 Home Sensor Wiring 2 ertt eee ei RE EO ER o EP UR ER EUIS EREO E PS DRYER EEUU E N 8 INM Home Sensor Wirins one nete ee pre UR ERE E NE OR ETE D ee 9 Warranty and Repaltr 5 eerie ee erii eoe teo Coo nona eno T korr e Vega eee ue aea Ra Pav oe e NeNQRE NER e REP YE Ue sesnceenuedcocessuacedeororsetereee 10 Standard Products vis eri ero ae dee eei i EON e WI EE E EU AER Pe CERTE ENT LEUTE REN 10 C stom products to EURO REI e E i PH SEP ERE EE Rd eH ETHER a 10 How to return products ee cedere Perte eoe terere eo ien etx oet eae dee ue ede Sed Sala cant
8. ando 10 Email RE 11 Contact Information isses eseese seneso esoe re een eoe eres aussesenceecedecvevsseeseese dace aaae Ae eono eT oe oE oa e eoio tees 12 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 Disclaimer Conventions used throughout this document eFixed 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 Not all ASCII commands have an equivalent legacy counterpart e g move abs 10000 T 20 10000 shows that a move abs ASCII command can also be achieved with binary command number 20 e All devices support the Binary Protocol however the ASCII Protocol is only supported in devices with firmware version T 51 6 06 and above Conventions used throughout this document Precautions e Always check the controller settings before connecting the motor to a new controller An incorrect current supply may damage the device Do not attempt to plug or unplug the home sensor while the Zaber device is powered This could result in da
9. at 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 Warranty and Repair 10 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 Newslet
10. er 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 deyices with away sensors only devices with linear or direct reading encoders only Pin Out for Minidin 8 T MCA connector and CDC6 cable to Peripheral Minidin 8 Female on T MCA O DO Pin Function Motor A1 Motor A2 Motor B1 Not Connected Motor B2 5V Home Signal Ground Alternate Controllers GO 3j ON tA TEJO The device may be controlled by any 2 phase stepper motor controller with home sensor input Warning Operating the unit without correctly wiring up the home sensor can cause permanent damage to the unit 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 actuator or hall sensor due to incorrect wiring is not covered by warranty NM T4 Home Sensor Wiring Your controller should be configured so the stage stops immediately little deceleration when the home sensor is triggered 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
11. mage to the device Always disconnect power before attempting to install or uninstall the home sensor cable Precautions Noise Levels Please note that the following motors will produce significant noise levels while holding a static position Setting the driver hold current to O will reduce the noise but also eliminate any holding torque e NM34C20S T4 e NM34C20D T4 Noise Levels Installation You can mount the NM motors by the four mounting holes on the motor face These conform to the NEMA ICS 16 standard See the NM T4 product page for specific motor dimensions Always set up the controller before connecting the motor Refer to the controller s user manual for more information on controller installation and operation Be sure that the home sensor is mounted to a fixed part and the magnet to a moving part Also take care that negative motion of the motor ex a negative relative move negative constant speed move or counterclockwise turn of the manual control knob brings the magnet closer to the home sensor The NM T4 home sensor can be mounted either in a T slot using the pre installed set screw or to a flat surface with the included fastener as shown below The home sensor is equipped with a red LED which will indicate triggering Connecting to a powered controller and watching the LED can simplify the process of aligning the home sensor with the path of the magnet Recommended T slot dimensions and the region of magnetic sensitivit
12. ters typically include a promotional offer worth at least 100 Email Updates 11 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 Web www zaber com Email Please visit our website for up to date email contact information The original instructions for this product are available at http www zaber com wiki Manuals NM Contact Information 12 Specification Value Alternate Unit Microstep Size Default Resolution 0 028125 degrees 490 866 urad Integrated Controller No Minimum Speed 0 1318 deg s 2 300 305 urad s Speed Resolution 0 1318 deg s Encoder Type None Motor Steps Per Rev 200 Motor Type Stepper 2 phase Motor Connection D sub 15 Limit or Home Sensing Magnetic home sensor Vacuum Compatible No Operating Temperature Range O to 75 degrees C RoHS Compliant Yes CE Compliant Yes Comparison NM Series Part Number Recommended Controller Maximum Speed Maximum Torque Motor Rated Current 14600 deg s 1 7 N cm NMO8AD T4 X MCBI 24 V Recommended 2 433 4 rpm dorm 600 mA phase NMOSAS T4 X MCBI 24 V Recommended Herd zn E urs 600 mA phase NMOSBD T4 X MCBI 24 V Recommended ud m a n 800 mA phase NMO8BS T4 X MCBI 24 V Recommended d en 2 SC 800 mA phase NMIIAD T4 X MCBI
13. y are shown in the hall sensor dimensional drawing Installation Home Sensor The purpose of the home sensor is to set a reference or zero position to synchronize the controllers internal position with the physical device position On power up the default reference position assumed by the controller is typically the maximum range setting The home sensor is a Hall effect switch which plugs into the motion control device A small magnet included activates the Hall effect switch when it approaches within roughly 2 mm of the face The range of the sensor will be affected by nearby ferromagnetic material such as steel fasteners as well as the polarity of the magnet The home sensor will be more sensitive facing the south pole of the magnet Most Zaber positioning products have built in Hall effect home sensors However on the NM and NM T4 devices the home sensor is detachable If the home sensor is connected a home T 1 instruction may be issued at any time to zero the device In certain applications for example continuous rotation at controlled velocities position synchronization isn t required and the home sensor may not need to be installed If you choose not to install the home sensor then do not issue the home instruction If you do the motor will reverse indefinitely waiting for the home senor to be triggered It is recommended to always set a reference position by issuing the home instruction or if the home sensor is not installed by
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