AB1A-3U Driver User Manual
Contents
1. sesssssssssseseesessseeeeee enne nennen enne 4 1 4 2 1 Enabling the Step Mode ccccccccccceeeeeeeeeeeeeeeeeceeeeeeeeeeseeeneeseeeeeeennaeeees 4 1 4 8 Gate Mode Operation sssssssssssssseeeeeeeeeeen ener 4 1 4 3 1 Enabling the Gate Mode ssssssssseseeeeeeenenmenn neis 4 1 5 Using the AB1A 3U to Drive LS Motors sssssssssse mem 5 2 CONNECTIONS AND I O SETTINGS u 20222u2200n0002000nn00nnnnnnannnannnnannnannnnnnnannnennnnnnnannnn 6 2 1 Motion Controller Connection ssseseneeenememem eene een 6 2 2 Cable Gonnectiornis eter ner renden 7 22 1 S hieldirigu ico aet e ab od etate tinet eon re 7 2 3 Motor Connections essssssssssseeeeeeeeee eene enne eere nennen nennen nennen 7 2 3 1 Motor Cable Length sssssssssseeeeeeemeeen nennen 8 2 4 Opto isolated Inp ts 5 1 diae ede e ERE estate 9 2 4 1 Voltage Source Configuration eessssssssssssseeeeeennee 9 2 93 Herault Output c EE 10 2 6 LED Indicator em en Trac e eiae b ees 10 2 7 Before Operating the Motor nnne 11 3 SPECIFICATION S 4 2 ee ei 12 3 1 Parameters and Conditions usrss4nsennsnnnnensennnennnnnnnnnnnnnnnnnnnnnn nenn snnnnennnn nn 12 3 2 ABIA IN MCU a TE Ele 13 3 3 AB1A 3U Pin Arrangement 2444444044424nnnnnnennnnnnnnnnnannansnnnnnnnnnnnnnnnnnnnannnnnnnnnnn 14 List of Figures List of2. Figures Figure 1 AB1A 3U Block Diagram ssssssseseeeeeeeeneen enne nennen nennen 2 Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card 3 Figure 3 Differential Analog Input Connection sssssssseeeeee ene 6 Figure 4 Non Differential single ended Analog Input Connection ss 7 Figure 5 J1 Connection to a Motor or Branch Cable sssssssseeeee 8 Figure 6 Jumper 2 Configuration z 444444444snnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnsnnnnnnnnnnnsnnnann 9 Figure 7 Opto Isolated Input Interface 10 Figure 9 LED Indicators ete e ee Heal d deed 11 Figure 9 ABT1A 3U Layout anne ei nee 13 List of Tables Table 1 AB1A 3U Power Consumption s44444444esnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnn nen 12 Table 2 Electrical Specifications cccceccceceeceeneceeeeeeeeeeceeeeeeeeeceeeeeeeesesecieeeeeeeeessnaneees 12 Table 3 Environmental Conditions sesssseeenm emen 12 Table 4 Analog Input Specifications ssssssssssssseeeeeneemeeeeeennnenes 13 Table 5 Dissipated Heatsink aaea eE eea A ea C nennen ennt ener ntn nnne 13 Table 6 Input Output Connector Pin Out sssssssseseeeeeeneeeeneennnens 14 Nanomotion Ltd d List of Abbreviations List of Abbreviations A Ampere AC Alternating Current DC Direct Current L
3. 2 12 0 7 2 HR4 38 4 24 0 14 4 HR8 56 7 48 0 8 7 2HR8 96 0 77 5 18 5 4HR8 230 0 192 0 38 0 STM 7 2 4 0 3 2 The values given in Table 5 are nominal 3 2 AB1A 3U Layout 160 23 30 a o O C JC 29 1 Pr T Ono COPY OF DRAWING AB3U 120 000 Figure 9 AB1A 3U Layout External connector P N ERNI 334203 male Mating connector P N ERNI 344265 female 13 Specifications ABI1A 3U Pin Arrangement 3 3 AB1A 3U Pin Arrangement Table 6 Input Output Connector Pin Out Pin SignalName Function Description B10 Step Input Step mode see sections 1 4 2 1 and 2 4 Z10 Enable Input Drive enable see section 2 4 D12 Emergency Input Safety input Disables the drive stop See section 2 4 D16 Right Switch Input Digital Input For Right Limit Switch See section 2 4 B16 Left Switch Input Digital Input For Left Limit Switch See section 2 4 B30 Motor Input Safety input The motor operation is enabled Z30 connected only when this input is shorted to the ground see section 2 4 Z14 Gate Input Gate Mode see sections 1 4 3 1 and 2 4 B12 Fault Output Open collector see sections 2 5 D18 VIN Input Negative analog command input D26 0 to 10V B18 VIN Input Positive an
4. C Coil Capacitor Resonance Circuit LED Light Emitting Diode mA Milliampere mW Milliwatt TTL Transistor Transistor Logic Vrms Volts Root Mean Square HIGH VOLTAGE ON CARD ATTENTION OPERATE ONLY INSIDE A CLOSED SHIELDED METAL CABINET 1 1 1 2 1 3 AB1A 3U Description General AB1A 3U Description General The AB1A 3U is a single axis motor driver designed to drive up to 32 motor elements in parallel The motor types that can be driven by AB1A 3U are HR LS ST and STM Main Features e High precision 11 bits control of the power output stage e Drives up to 32 Nanomotion motor elements in parallel e Interfaces with an Analog command e Discrete inputs enable feedback from external sources such as limit switches emergency stop command etc e LED indicators e Output short circuit protection e Reduced sensitivity to cable length and capacity Operating Principles The AB1A 3U Driver comprises the AB1A 3U main card and an LC card The AB1A 3U Card converts the analog input command signal into a corresponding PWM square wave output signal that is fed to the LC Card The LC Card produces the sine wave output voltage that drives the motor The LC Card type and configuration depends on the number of motor elements driven e For 1 to 16 elements the LC circuit is internal to the AB1A 3U e For 32 elements the LC circuit is external to the AB1A 3U LC Box AB1A 3U Description Operating Principles An internal D
5. C to DC converter that is fed from an external 48V power supply supplies the required DC voltages Figure 1 illustrates a typical application of the AB1A 3U Driver a Command Source E DC ma LG Gand Converter Circuit 48 DC Power Source aS Nanomotion Motor Figure 1 AB1A 3U Block Diagram The motor has three terminals UP red wire DOWN white wire and COMMON black wire The voltage applied between the UP and the COMMON terminals causes the motor to move in one direction while voltage applied between the DOWN and the COMMON terminals causes the motor to move in the opposite direction Figure 2 is a schematic drawing of the power output Nanomotion Ltd 2 AB1A3U Driver User Manual AB1A 3U Description 1 4 1 4 1 AB1A3U PWM Square wave on the amplifier output 44v EIE H BRIDGE o AC output that drives the motor LC Card Common e DIRECTION CONTROL NANOMOTION MOTOR Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card Operation Modes The AB1A 3U can be operated in one of the following operation modes e Velocity Mode in which the motor is driven continuously e Gate Mode in which the motor is driven at low velocity by turning the driver output ON and OFF in time intervals defined by outside TTL signal in an open loop e Step Mode in which the driver o
6. NANOMOTION ro March 2004 P N AB3U 458 000 C Nanomotion Ltd POB 223 Yokneam 20692 Israel Tel 972 4 959 0862 Fax 972 4959 0995 Web Site www nanomotion net E mail nano nanomotion com Copyright Copyright This document contains proprietary information of Nanomotion Ltd and Nanomotion Inc and may not be reproduced in any form without prior written consent from Nanomotion Ltd and Nanomotion Inc No part of this document may be reproduced translated stored in a retrieval system or transmitted in any form and by any means electronic mechanical photographic photocopying recording or otherwise without the written permission of Nanomotion Ltd Information provided in this document is subject to change without notice and does not represent a commitment on the part of Nanomotion Ltd Copyright March 2003 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders Limited Warranty Nanomotion Ltd hereinafter NM warrants the product other than software manufactured by it to be free from defects in material and workmanship for a period of time of one year except those parts normally considered as consumable expendable components such as motor conditioning brushes The warranty commences thirty 30 days from the date of shipment NM warrants those parts replaced under warranty for a period equal to the remaining warranty cov
7. Z26 GND Ground D28 GND Ground D30 INC Not in use D32 NC Not in use 15
8. alog command input 0 to 10V B26 D22 Motor Output Connected to the motor COMMON terminal B22 COMMON black wire D24 Motor DOWN Output Connected to the motor DOWN terminal B24 white wire B28 Motor UP Output Connected to the motor UP terminal red wire Z28 B32 Motor Phase in Output Used with an external LC box configuration 232 Otherwise not used D8 48V Input Power supply B8 Z8 D10 User voltage AUX 5V External supply input D2 12V AUX Accessory voltage for powering an external input component max 700 mW Return is the GND pin D6 12V AUX Accessory voltage for powering an external input component max 700 mW Return is the GND pin Nanomotion Ltd 14 AB1A3U Driver User Manual Specifications Pin SignalName Function Description B6 Vcc AUX 5V Accessory voltage for powering an external output component max 2 5W Return is the GND pin Z2 SER CLK Optional Consult factory B2 CS Optional Consult factory DA GND Ground BA Z4 Z6 SER DATA Optional Consult factory Z12 Reset Input System initialization Acivated short to ground D14 Reserved For future use Must be left unused Z16 IPTC For future use Must be left unused Z18 INC Not in use D20 Motor phase Output Used with an external LC box configuration B20 Otherwise not used Z20 NC Not in use Z22 GND Ground Z24 GND Ground
9. ance of the motor Refer to the Motor User Manual 11 Specitications Parameters and Conditions 3 Specifications 3 1 Parameters and Conditions Table 1 AB1A 3U Power Consumption Power Input 48VDC 5 stabilized Max Motor Output 250 290 Vrms Power Consumption without Load 48VDC 0 125A Power Consumption with Max load 48VDC 6 5A max Table 2 Electrical Specifications Supply Current Voltage Consumption lt 200 mA 1x HR1 is connected lt 500 mA 1x HR2 is connected 48v 5 lt 800 mA 1x HR4 is connected lt 1200 mA 1x HR8 is connected The required power supply value should be calculated by adding the total power consumption of all the motors that are connected to the AB1A 3U power consumption without motor 48VDC 125 mAms according to the following e 125mA n current consumption of a single motor e n Number of motors that are connected n 1 2 3 4 Table 3 Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Operating Humidity Up to 80 non condensing Nanomotion Ltd 12 AB1A3U Driver User Manual Specifications Table 4 Analog Input Specifications Input voltage range 10V Input impedance 10 kQ Input low pass filter 2 7 kHz Table 5 Dissipated Heat Configuration Input Power Motor Power Dissipated W W Heat W HR1 9 6 6 0 3 6 HR2 19
10. at is active shorted to ground under the following conditions e Over Current e The motor is not connected and the Motor Disconnect signal is floating e Emergency Stop ut The Fault output is capable of sinking a maximum of 20 mA and is not NOTE protected from over current 2 6 LED Indicators There are five LED indicators located on the front side of the card See Figure 8 for LEDs locations e Power ON Green LED Lights when 48V is applied e Fault Red LED Lights when over current protection is triggered e Motor Disabled Red LED Lights when motor is connected and the driver is disabled e Motor Not Connected NC Red LED Lights when motor is not connected e Motor Enabled Green LED Lights when drive is enabled Nanomotion Ltd 10 AB1A3U Driver User Manual Connections and I O Settings Uu oo u gt ae E T Motor xx c D s T b d Figure 8 LED Indicators 2 7 Before Operating the Motor Before operating the AB 1A 3U verify the following Card configuration as specified on card matches the motor to be operated Jumper JP2 is set to the required mode of operation The external power supply is capable of supplying the required power consumption of the AB1A 3U There is no command when switching the power to ON Make sure that all motors that are to be driven by the AB1A 3U are preloaded The command should be limited according to the envelope of E J ATTENTION perform
11. ation and other driver configuration changes that may be required Connections and I O Settings Motor Connections GND Z 22 Z 24 This connection is active only when operating D 20 B20 the driver in an external LC box configuration D 24 B 24 D 22 B 22 B 28 Z 28 B 30 Z 30 AB1A 3U J1 Connector GND Z 22 Z 24 B 32732 This connection is active only when operating 2 the driver in an external LC box configuration z o 5 o o Cc o O o a gt d e o gt 2 oO E o LL a oO Q t o oO 5 oa 2 5 je 5 o Figure 5 J1 Connection to a Motor or Branch Cable 2 3 1 Motor Cable Length The overall length of the cables that connect the AB1A 3U driver to the motor elements should be in accordance with the following e Up to 2 motor elements 5m e 4 32 motor elements 10m identical motors Branch cables must be of identical length the Use Nanomotion standard cables Branching is possible to 2 and 4 7 NOTE sum of which not exceeding the allowed total cable length ut Nanomotion can guarantee proper driver and motor performance NOTE only when Nanomotion standard cables are used Nanomotion Ltd AB1A3U Driver User Manual Connections and I O Settings 2 4 Opto isolated Inputs The following inputs are opto isolated and are activated by shorting them to ground see also Table 6 e Powering Up Down Motor Connected Safety input The motor operat
12. e Minimum pulse width 50 usec e Maximum pulse frequency 1 kHz Enabling the Gate Mode In order to enable the Gate Mode the Z14 pin see Table 6 should be shorted to the ground Verify that the B10 pin is not shorted to the ground at the same time Once Z14 is shorted to the ground the driver is in Gate Mode Conduct now the external switching signal through pin B10 see also section 1 4 2 1 Nanomotion Ltd 4 1 5 AB1A3U Driver User Manual AB1A 3U Description Using the AB1A 3U to Drive LS Motors Under normal conditions the LS series of motors should not be operated with command voltage exceeding 3 5V To allow some margin in cases which require momentarily use of higher power the AB1A 3U for the LS series of motors is limited to 5V Nanomotion expects that during normal operation the commanding controller should protect the motor and assumes that in continuous operation the command will not exceed 3 5V The protection scheme is as follows the torque limit at the controller must be set to half of the maximum command voltage 5V and be limited to 5 seconds The controller RMS torque limit must be set to 35 of the full command AB1A3U Driver User Manual Connections and I O Settings 2 Connections and I O Settings 2 1 Motion Controller Connection There are two options of connecting a motion controller to the AB1A 3U driver e Differential connection see Figure 3 e Single Ended Connection see Figure 4 The d
13. er party for loss of profits loss of use or incidental increased cost of operation or delays in operation special or consequential damages whether based on contract tort including negligence strict liability or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of the preceding sentence NM shall not be liable to the Purchaser for personal injury or property damages CE Compliance CE Compliance This product has been tested for Electric Safety and Electromagnetic Compatibility inside a closed shielded metal cabinet and was found to be in compliance with the following directives and standards EMC Directive 89 336 EEC FCC 47 CFR part 15 subpart B LVD directive 73 23 EC Article 5 EN 61800 3 1996 A11 2000 for second environment EN 61000 3 2 2000 EN 61000 3 3 1995 A1 2001 FCC 47 CFR 2002 part 15 subpart B class A EN 61010 1 2001 Table of Contents Table of Contents 1 ABTA U BESCRIPTION e eintreten iore terae tech ethene Rt uite edet eds 1 1 1 GON CH MEE 1 1 2 Main Features en rennen 1 1 3 _ Operating Principles ea ERE ER exon eR RE Pe en 1 1 4 Operation Modes eee 3 1 4 1 Velocity Mode Operation cccccccceccecceeeeeeeeneeeeeeeesecneeaeeeeeeceneeaeeeeeeeseeaneeeees 3 1 4 2 Step Mode Operation
14. erage of the original part NM s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery within ten 10 days of its discovery ii NM has the opportunity to investigate the reported defect and determines that the defect arises from faulty material parts or workmanship and iii the Purchaser returns the affected product to a location designated by NM These provisions constitute the exclusive remedy of the Purchaser for product defects or any other claim of liability in connection with the purchase or use of NM products This warranty policy applies only to NM products purchased directly from NM or from an authorized NM distributor or representative This warranty shall not apply to i products repaired or altered by anyone other than those authorized by NM ii products subjected to negligence accidents or damage by circumstances beyond NM control iii product subjected to improper operation or maintenance i e operation not in accordance with NM Installation Manuals and or instructions or for use other than the original purpose for which the product was designed to be used NM shall not in any event have obligations or liabilities to the Purchaser or any oth
15. ifferential connection enhances noise immunity ABIA 3U From controller Figure 3 Differential Analog Input Connection 2 2 2 21 2 9 ABIA3U Driver User Manual Connections and I O Settings AB1A 3U From controller Figure 4 Non Differential single ended Analog Input Connection Cable Connections Connect the following groups of cables together isolating each of the signals e POWER SUPPLIES use 22 AWG or lower AWG wires for the power supplies For noisy surroundings it is recommended to twist the ground line and the power line together e ANALOG COMMAND a twisted shielded cable is recommended e DISCRETE INPUTS These signals are not sensitive to noise and can be grouped together in the same harness with any of the other groups Shielding As the high motor voltage is induced on the cable shield it is required to ground the shield on both motor and driver sides to the infrastructure earth Motor Connections The Motor Disconnect signal is available only at the motor or branch cable connector where it is shorted to ground This ensures that unprotected motor pins will not be exposed to high voltage when the motor is not connected If more than one motor is connected to the AB1A 3U Driver Box use a suitable branch cable or extension cable as supplied by Nanomotion If the motor type or the number of motor elements is changed consult Nanomotion for the appropriate LC Card configur
16. ion is enabled only when this input is shorted to the ground Enable Enables the motor activation Emergency Stop ES Disables the AB1A 3U output e Mode Enabling Step Mode Enables Step Mode operation e Direction Restrictions Left Switch Disables motor motion to the left Right Switch Disables motor motion to the right 2 4 1 Voltage Source Configuration The opto isolated input signals are activated as short to ground The voltage for the opto isolated circuit see Figure 7 is provided by either the internal 5V supply default setting or an external voltage supply via pin 20 on the I O Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 2 located near LC card on the AB1A 3U card according to the voltage source Pin 1 shorted to Pin 2 for an internal 5V source factory setting Pin 2 shorted to Pin 3 for an external voltage source Do not short Pin 1 to Pin 3 on JP2 Doing so shorts the external power supply to the 5V supply The input circuit is limited to sink ATTENTION up to 10 mA but not less than 3 mA Internal voltage source External voltage source LI LLLI 1 2 3 1 2 3 Figure 6 Jumper 2 Configuration Connections and I O Settings Fault Output VCC VCC User Voltage 3900 To control logic Command Input AB1A 3U Figure 7 Opto Isolated Input Interface 2 5 Fault Output Fault An open collector logic output th
17. utput is turned OFF and ON at predefined intervals in order to drive the motor in discrete steps Velocity Mode Operation In this operation mode the motor is driven continuously by applying the analog command voltage 10 V using a relevant interface device joystick or motion controller AB1A 3U Description Operation Modes 1 4 2 1 4 2 1 1 4 3 1 4 3 1 Step Mode Operation In this operation mode the motor is turned on and off for fixed time intervals defined in the hardware as follows e ON phase 1 16 second e OFF phase 0 5 second The amplitude of the output corresponds to the analog input value and thus determines the speed of the motor Enabling the Step Mode In order to enable the Step Mode the B10 pin see Table 6 should be shorted to the ground By default neither B10 nor Z14 see section 1 4 3 1 is shorted to the ground so that the user can select the required conection Gate Mode Operation In this operation mode the motor is driven in open loop at low velocities by turning the driver output ON and OFF in time intervals defined by an external switching The amplitude of the output corresponds to the analog input value and thus determines the speed of the motor In Gate Mode as opposed to Step Mode the pulse width and pulse frequency are user defined The allowable parameter values for the external signal are as follows e Voltage level OV on 5V off Open collector logic is also an option
Download Pdf Manuals
Related Search