AB5 Driver User Manual
Contents
1. 000006060000000 000000000000 000000000000 000000000000 0 0000000000 0000000000060 000000000000 000000000000 800000000000 000000000000 000000000000 000000000000 000000000000 00000000000 000000000000 008080006080 000000000000 099000096000 0000860000800 000000000000 SLOTS FOR MOUNTING USE DIN 7985 M4 SCREWS 4xM3 THREADS FOR MOUNTING DIMENSIONS IN MM GENERAL TOLERANCE 0 4 Figure 7 Mechanical Dimensions 15 4 3 Pin Arrangement Table 6 Control Terminal Pin Out Specifications Pin Signal Name Function Description 1 24V Input 24 VDC Power Supply 2 Gnd Ground 3 Vin Input Analog Command from controller 4 Vin Input Analog Command from controller 5 Enable_In Input Enable See section 2 5 Table 7 Motor Output Port Pin Out Pin Signal Name Function Description 1 Gnd Power supply ground Safety input shorted to pin 6 in order to verify the motor connection and to prevent driver operation without the motor 2 N C Not used 3 Motor_Up High voltage output Connected to the white motor terminal 4 Motor_Common High voltage output Connected to the black motor terminal 5 Motor_Down High voltage output Connected to the red motor terminal 6 Motor Connected Input Safety input shorted to pin 1 in order to verify the motor connection and prevent the driver operation without the motor 7 Gnd Power supply ground2. Shorted to the shield 8 N C Not used 9 N C Not used 16 Specifications Table 8 I O Port Pin Out Pin Name Function Description 1 V_In_Pos Input 0 to 10VDC Analog control 2 Gnd Ground 3 Fault Output See section 2 6 4 Gnd Ground 5 SPI_ Select Disabled 6 Direction Disabled 7 SPI_Data Disabled 8 Acs Int Mode Disabled 9 Gnd Disabled 10 Set Com 1 Disabled 11 10V Output 10V supply for external device Joystick 12 Emergency Stop Input Safety shut down See section 2 5 13 User Voltage Input External power supply for the opto isolated type inputs 14 V In Neg Input 0 to 10VDC Analog control 15 Gnd Ground 16 Step Mode Input Step mode selection 17 Brake In Input Disables driver operation without resetting 18 SPI Clock Disabled 19 Set Offset Level Input Read command and remember as offset 20 Enable Sign In Input When shorted to ground the Enable In input is active high Otherwise Enable Inis active low 21 NC 22 Set Com 2 Disabled 23 10V Output 10v supply for external device Joystick 24 Enable In Input Must be activated to enable driver operation 25 NC 17 4 4 Specifications Envelope Of Performance EOP Considerations As earlier described section 1 3 when operating the driver in the Brake Off mode the motor consumes power at all times even whe
3. 0 Connections and I O Settings 2 6 Fault Output The Fault Output follows open collector logic When activated low it disables the driver under the following conditions Over current Over voltage Connecting the motor when the power supply is already connected and turned on may sometimes result in Fault To avoid this please first connect the motor and finally the power supply A The Fault output is capable of sinking a maximum of 20 mA NOTE and is not protected from over current 2 7 Before Operating the Motor Before operating the ABS verify the following e Jumper JP2 is set to the required mode of operation see section 2 5 1 e Mechanical screws lock all connectors e The external power supply is capable of supplying the required power consumption of the AB5 see Table 2 e There is no command when switching the power to ON e All motors are correctly mounted The command should be limited according to the envelope of performance of the motor Refer to the BA Motor User Manual ATTENTION Driver should be grounded to infrastructure earth before operating 11 3 1 D Let 3 2 AB5 Operation AB5 Operation Set Offset Procedure Set Offset calibrates the zero command for each specific motor and system Each new motor should be calibrated using the Set Offset procedure before being used This is necessary to prevent slide movement when the zero command is applied Setting the Off
4. Driver Front Panel sie 3 Figure 2 Differential Analog Input Connection 1 1n SH nhe 5 Figure 3 Non Differential single ended Analog Input Connection 6 Figure 4 Joystick Connection sie 7 Figure 5 Opto Isolated Input Interface ss 9 Figure 6 Jumper 3 Configuration ss 10 Figure 9 Mechanical Dimensions SH Hs HT TH Hy 15 Figure 8 EOP Considerations SH HH HH To kh 19 List of Tables Table 1 Electrical Specifications 14 Table 2 Recommended Power Supplies HT reene 14 Table 3 Physical Properties in 14 Table 4 Environmental Conditions 1 S3 Hn TH HT ky 14 Table 5 Analog Input Specifications 14 Table 6 Control Terminal Pin Out sisi 16 Table 7 Motor Output Port Pin Out issues 16 Table 8 1 0 Port Pin Oltra id La peinte 17 iv List of Abbreviations A AC DC LED mA mW PWM TTL Vrms Ampere Alternating Current Direct Current Light Emitting Diode Milliampere Milliwatt Pulse Width Modulation Transistor Transistor Logic Volts Root Mean Square List of Abbrevations 1 1 1 2 AB5 Description AB5 Description General The AB5 is a 24V single axis amplifier box for driving Nanomotion Piezo Ceramic motors which eliminates the dead zone previously associated with Piezo Ceramic operation It interfaces between the input command from a cont
5. NANOMOTION tro June 2005 P N AB05 458 200 A Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 4 959 0862 Fax 972 4 959 0995 Web Site www nanomotion com E mail nano nanomotion com Copyright and Warranty 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 February 2004 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 w
6. TENTION MUST be connected to the infrastructure earth 2 4 Motor Connections The Motor Connected signal is available only at the motor connector where it is shorted to ground see Table 7 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 AB5 use a suitable branch cable If the motor type or the number of motor elements is changed consult Nanomotion for the appropriate driver configuration changes that may be required The circuit will only close if a motor is connected to each A NOTE of the branches The motors will not work if even one of the branches of the cable is not connected to a motor Connections and I O Settings 2 4 1 Motor Cable Length The maximum allowed total cable length connecting the AB5 to the motor s is 20 meters for the HR types and 10 meters for the ST Minimum length is 0 5m Use Nanomotion standard cables Branching is possible to two and four identical motors Branch cables must be of identical length the sum of which not exceeding the A allowed total cable length NOTE Nanomotion can guarantee proper driver and motor performance only when Nanomotion standard cables are used 2 5 Opto isolated Inputs The following inputs are opto isolated and are activated low i e by shorting them to ground see Table 8 for more details Emergency_Stop Disables the AB5 output Enable_S
7. arranty coverage 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 Purchas
8. er or any other 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 was tested for Electrical Safety and Electromagnetic Compatibility It conforms with EMC Directive 89 336 EEC Article 7 1 with FCC 47 CFR part 15 subpart B and with LV directive 73 23 EC Article 5 and satisfies the requirements of the following standards 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 EN 61010 1 2001 Table of Contents Table of Contents 1 ABS DESCRIPTION rss 2 22222200010060 lin ar E sade la t n Ahana ste nee 1 1 1 CP O e 1 1 2 Main ESQUI SS toa ib ee tt 1 1 3 Operating Principles OVerVi W sie 2 2 CONNECTIONS AND I O SETTINGS enr 3 2 1 Front Panel Description sis 3 2 1 1 Front Panel Connectors ss 4 2 1 2 Front Panel LED Indicators sie 4 2 2 Mot
9. ign_In Changes Enable_ In input logic to active high Enable_In Enables driver operation Should be activated before the motor can be run Step_Mode Enables Step mode operation Brake In Disables the AB5 output Set_Offset_Level Adjust zero command level VCC I Jumper l 1 VCC User Voltage I 1 l 3900 To control l l 1 l I logic 1 I 1 y d GA 1 l Command Input 1 l D Figure 5 Opto Isolated Input Interface Connections and I O Settings 2 5 1 Voltage Source Configuration The opto isolated input signals 2 2 1 are activated as short to ground The voltage for the opto isolated circuit see Figure 6 is provided by either the internal 3 3V supply default state or an external voltage supply via pin 13 on the I O Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP2 on the top AB5 card according to the voltage source Pin 1 shorted to Pin 2 for an internal 3 3V source default factory setting Pin 3 shorted to Pin 4 for an external 3 3V voltage source 3 1 3 1 o e _ Jo e JP2 JP2 ee e o 4 2 4 2 Connection for Connection for Internal source External source Figure 6 Jumper 2 Configuration Do not short other pins on JP2 Doing so shorts the BA external power supply to the 3 3V supply The input circuit is limited to sink up to 10 mA but not less than 3 ATTENTION mA 1
10. ion Control Interfaces ss 4 2 2 1 Analog Controller Connection ss 4 22 2 SJOYSUCK Connection iii nt b n B n c ER a dE 7 2 3 Gable Connections codecs mms A 8 2 3 1 Grounding the Driver IMPORTANT fine 8 2 4 Motor Connections siennes 8 2 4 1 Motor Cable Length iia 9 2 5 Opto Isolated Inputs 2364 2 60 1002 aa a ere Mrs anne eect i 9 2 5 1 Voltage Source Configuration 10 2 6 FaultOutputi ss 676666666 phone AAA Rte 11 2 7 Before Operating the Motor ss 11 3 ABSB OPERATION s sss 222 2 222202220001071 iia 12 3 1 Set Offset Procedure sean me ee iad Bee RE arte 12 3 14 Setting the Offset sursis een nest ode Ane 12 3 2 Operation M d s ns a titi 12 3 2 1 Velocity Mode Operation sise 13 3 22 Step Mode Op rations ramener anale it ive een 13 3 2 2 1 Enabling the Step Mode 13 3 23 Brake On Mode ui at 13 3 2 3 1 Enabling the Break_on HH TH 13 4 SPECIFICATIONS 1 52 222222 21221222 Dea 1103102051 ra araoa 58x rene ep rene nets nike tie n t ga sa ee 14 4 1 Parameters and Conditions S3 cece HT TH ng kh 14 42 ABSiILAVOUtSi 20136 22iy o 00 60 0160 ce dei Ad re NA 15 4 3 Pin Arrangement iaa ennemie ta 8x6 n0 k6 radin teen lv RP thang un 16 4 4 Envelope Of Performance EOP Considerations c cccSSS Si rrse 18 ii Lists of Figures and Tables List of Figures Figure 1 AB5
11. itude of the output corresponds to the analog command input value and thus determines the speed of the motor Enabling the Step Mode Short pin 16 to ground to enable Step mode operation Brake On Mode This option is used when the inherent break force of the motor is needed The driver is disabled and the motor is turned off NOTE although the driver is disabled there is no reseting as is the case when disabling is carried by the Emergency Stop or by the Enable_in inputs Enabling the Break_on Short pin 17 to ground to enable the break Disconnect it from ground to get the Break_Off 13 Specifications 4 Specifications 4 1 Parameters and Conditions Table 1 Electrical Specifications Power Input 24 VDC 5 stabilized Power Consumption without Load 24 VDC 200 mA Table 2 Recommended Power Supplies Supply Maximum Current Applicable For Voltage Consumption 24 VDC 5 12A E32 Table 3 Physical Properties Weight 450g Table 4 Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Operating Humidity Up to 80 Non condensing Table 5 Analog Input Specifications Input voltage range 10V Input impedance 10kQ Input low pass filter 2 7 kHz 14 4 2 AB5 Layout Specifications DRIVER oooooooo ooooooo ooooooooooooooo oooeooooooooooo 000000 000000 000000000000
12. minal Motor Output Port I O Port Power Enable Indicators Ground Screw EEE NANOMOTION Lis ABS DRIVER BOX Figure 1 AB5 Driver Front Panel 2 1 1 2 1 2 2 2 Connections and I O Settings Front Panel Connectors Connector Description Control 5 pin connector Receives 24V from an external source and provides terminal direct control over the motor ENABLE signal and the analog control signal Vin and or Vin Mating connector is by Wieland p n 25 621 0553 0 I O Port 25 pins D type female connector Interfaces to the control source joystick or controller Motor Out 9 pins D type male connector Interfaces to the motor See also Table 6 Table 7 and Table 8 Front Panel LED Indicators CONDITION POWER ENABLE Vcc lt 4 6V Off Off Vcc gt 4 6V Motor not connected Green Off Motor connected and disabled Green Orange Motor enabled Green Green Over Current Over Voltage Green Red Motion Control Interfaces The ABS Driver Box can receive the input signals either from a motion controller or from a joystick The schematic diagrams of the motion controllers and joystick connections to the AB5 Driver Box are provided in following sections The motor may be operated with minimum control signals _ wore 2 2 1 applied to the Control Terminal 24V GND VIN VIN ENABLE_IN Analog Controller Connection There are two options of an analog connection of a motion controller to the AB5 Driver Box Differe
13. n the control command voltage is zero thereby reducing the thermal EOP Figure 8 on the next page describes the motor velocity force curves with the allowed operation duty cycle and continued operation Important If a Break Off mode is desired while working in vacuum the following operating regime must be maintained within the specific duty cycle stated in the chart once the maximal continuous operation time has elapsed the motor must be disabled and allowed to cool off for at least 400 seconds For example looking at curve C in vacuum with the break off after 280 seconds of working at the 45 duty cycle specified the motor must be disabled for at least 400 seconds to cool off This is true also if a smaller duty cycle is maintained 18 Specifications Force Thermal EOP with AB5 driver Maximal continuous Lod Duty Cycle operation time sec Vacuum Ambient Break Off Break Break 25 C Vacuum I O mm m D CO D0 gt Force vs Velocity for different commands HR8 with AB5 100 200 300 Velocity mm sec Figure 8 EOP Considerations 19
14. ntial connection see Figure 2 Single Ended Connection see Figure 3 The differential connection enhances noise immunity Connections and I O Settings DC Power Supply Twisted and shielded cable 3 Fault 24 Enable 4 Com e ee 6 Motor Cnctcd Figure 2 Differential Analog Input Connection Connections and I O Settings DC Power Supply Twisted and shielded cable 6 Motor Cnctd Figure 3 Non Differential single ended Analog Input Connection Connections and I O Settings 2 2 2 Joystick Connection Using the joystick for supplying the command voltage to the AB5 Driver Box allows the user to manually drive the motor without using a motion controller DC Power Supply Twisted and shielded cable Figure 4 Joystick Connection 2 3 2 0 1 Connections and I O Settings Cable Connections Connect the following groups of cables together isolating each of the signals 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 ANALOG COMMAND a twisted shielded cable is recommended DISCRETE INPUTS These signals are not sensitive to noise and can be grouped together in the same harness with any of the other groups Grounding the Driver IMPORTANT To ensure that minor electric shock does not occur the ground screw on the bottom left of the front panel AT
15. roller or joystick to the motor As a result it provides the smooth control of a DC motor and the accuracy and stability of a Piezo motor The AB5 box consists of three cards that convert the input command signal into the output voltage necessary for Nanomotion motors The Logic and Driver cards are common to all AB5 configurations while the Personality card is configuration specific and can be replaced when a motor type or number is changed Main Features High precision 11 bits control of the output power stage Zero Dead Band Drives up to four HR8 motors Four operation modes Velocity Step and Brake On Off Interface to an analog command Modular design to allow replacement of configuration specific Personality cards Discrete inputs enabling feedback from external sources such as limit switches emergency stop command etc Three color LED indicators Over Current Over Voltage and No Load protections Minimized sensitivity to cable length User defined ENABLE input logic 1 3 AB5 Description Operating Principles Overview All piezo ceramic motors operation principles are based on the inherent friction generated between the motor and the slide The AB5 driver eliminates this inherent friction between motor and slide by using a brake off principle of operation In order to better understand the brake off let us imagine that we stop an automobile at a traffic light while on an incline We have two option
16. s while waiting for the light to change Option 1 other drivers operation principles Engage gear in neutral and use the break to remain in place This results in a dead zone where no movement occurs until a minimum of pressure on the gas pedal is reached Option 2 AB5 operation principle Remain in gear with an equilibrium of the clutch and gas holding us in place Even the slightest increase in pressure on the gas pedal combined with a decrease in pressure on the clutch causes the automobile to move The amount of pressure applied to the clutch and the amount of pressure applied to the gas pedal are the factors that cause the vehicle to move By letting the motor vibrate in a certain unique way the dead zone phenomena associated with the friction of the piezo ceramic motor is bypassed It is hence clear that even when zero command voltage is applied and no motion is generated the motor is still excited and thus consumes energy and is heated up The driver s output at zero command is system dependant and is affected by various factors including the gravitational pull of an incline or decline slide friction vacuum non vacuum etc This output level can be user defined according to the specific system requirements see section 3 1 Connections and I O Settings 2 Connections and I O Settings 2 1 Front Panel Description The AB5 front panel see Figure 1 contains the following connectors and indicators Control Ter
17. set Toggle Enable off and then on again before starting the adjustment Apply the zero command and see if there is slide movement Adjust the command voltage level until the slide movement stops RODNI While still applying the above command level momentarily short pin 19 to ground The driver remembers this level of command as its zero Max 2 5V 5 Apply now zero command level and verify that the slide is in standstill Operation Modes Both Enable_ In and Motor_Connected inputs must be active for operation regardless of the operation mode The AB5 can be operated in one of the three operation modes listed below Velocity AC Mode in which the motor is driven continuously Step Mode in which the driver output is turned OFF and ON at hardware predefined intervals thus driving the motor in discrete steps Brake On Mode while in Velocity Mode enables holding force to be turned ON or OFF as desired by the user 12 3 2 1 3 2 2 3 2 2 1 3 29 3 2 3 1 AB5 Operation 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 This is the driver default Step Mode Operation In this operation mode the driver output to the motor is turned on and off for fixed time intervals defined in the hardware as follows ON phase 1 16 second OFF phase 0 5 second The ampl
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