User Manual
Contents
1. The dimensions are in mm Nanomotion Ltd 26 POE Z sn Motor User Manual Contact Information q 9 Contact Information 9 1 Customer Service Contact your local distributor or email Nanomotion Ltd Technical Support Department at techsupport nanomotion com with detailed problem description 9 2 General Inquiries and Ordering Nanomotion Ltd Headquarters Nanomotion Ltd PO Box 623 Yokneam Israel 20692 Tel 972 73 2498000 Fax 972 73 2498099 Web site www nanomotion com Email nano nanomotion com Nanomotion Inc US Headquarters Nanomotion Inc 1 Comac Loop Ste 14B2 Ronkonkoma NY 11779 Tel 800 821 6266 Fax 631 585 1947 Web site www nanomotion com Email nanous nanomotion com Nanomotion Ltd 272. N User s PCB Figure 3 Connecting the Motor FPC to the FPC Electrical Interface example of design used for EDGE MOTOR EVALUATION KIT Nanomotion Ltd 15 EDGE 2a TT ononon Motor User Manual Motor Installation S q D Figure 4 Example of stage based on EDGE motor including ASIC EDGE driver and position encoder EDGE MOTOR EVALUATION KIT stage 4 4 Operating the motor 1 Connect the power supply and the communication line to the ASIC board The communication line may be either an IIC line or an analogue command depending on the specific application For specific applications please ask Nanomotion for SW ICD 2 Choose the driving mode see section 3 2 The motor is now ready for Conditioning see chapter 5 3 For operating in close loop install an encoder and connect a controller to the motor driver Note the NM ASIC driver can work either as a driver or as a controller driver For other drive and control configurations please contact Nanomotion 1 Please refer to the ASIC and the EDGE driver user manuals see chapter 1 2 Nanomotion Ltd 16 EDGE A oss Motor User Manual Motor Conditioning 5 Motor Conditioning The EDGE motor must be conditioned before operating to stabilize the motor s dynamic performance reduce wear rate and increase the lifetime of the system Conditioning should be performed any time the motor is remounted on the stage 5 1 The Conditioning Procedure In order t
3. EDEt WV wanomorion by Nanomotion A Johnson Electric Company EDGE Motor User Manual EDGE458001 00 REV A July 2011 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com lal L GE one Motor User Manual Copyright 8 e Copyright This document contains proprietary information of Nanomotion Ltd and may not be reproduced in any form without prior written consent from Nanomotion Ltd 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 July 2011 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders Nanomotion Ltd 2 PIE amp w vannoen Motor User Manual Limited Warranty S q 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 wa
4. EL a Fwy xovomovon Motor User Manual General 1 General The purpose of this user manual is to help the user to install and operate the EDGE Piezoceramic Motor This manual describes the physical dimensions mechanical and electrical properties as well as the installation procedures of the motor This manual assumes that the user has a fundamental understanding of basic motion systems as well as motion control concepts and applicable safety procedures 1 1 General Handling Guidelines e Donot remove the cover of the motor e Switch power on only when the motor is properly mounted e Donotimmerse the motor in any liquid or cleaning agent Use only a clean cloth to wipe the motor e Ensure that the motor and especially the finger tip is not subjected to direct high mechanical shock e Follow the installation instructions provided in this manual when mounting the motor The EDGE motor is not user serviceable For any installation and mounting inquiries please contact Nanomotion 1 2 Reference Documentation e Nanomotion ASIC NM8SiP user manual D N ASIC458000 e XCD EDGE Driver Controller D N XCDH458001 e EDGE Driver User Manual D N EDGE458003 e EDGE INTERFACE DRAWING D N EDGE458101 Nanomotion Ltd 8 PLE senn Motor User Manual Introduction S g E 2 introduction 2 1 The EDGE Motor The EDGE motor is the smallest industrial motor of its kind available in the marketplace today Providing unlimit
5. anomotion Ltd 5 PIE 2 nne Motor User Manual List of Figures q List of Figures Figure 1 Bonding the Ceramic Driving Gin 12 Figure 2 EDGE motor motion system mechanical parts Overview cceeeeeeeeeteeeeeeeees 14 Figure 3 Connecting the Motor FPC to the FPC Electrical Interface example of design used for EDGE MOTOR EVALUATION KIT 15 Figure 4 Example of stage based on EDGE motor including ASIC EDGE driver and position encoder EDGE MOTOR EVALUATION KIT stage 16 Figure 5 Block Diagram of the Motor and Driver 18 Figure 6 EDGE motor Force vs Velocity at different work regimes sssssssseeesseerrrrreee een 21 Figure 7 Typical Motor Velocity vs Command Operating in Standard Driving Mode 23 Figure 8 Typical Motor Velocity vs Command Operating in Linear Driving Mode 23 Figure 9 EDGE motor mechanical ovout renent 24 Figure 10 EDGE motor mounting base reouirements 25 Figure 11 EDGE motor electro mechanical interface ccccccceeceeceeeeeeeeeeeeeeeseeneeeeeeeees 26 Nanomotion Ltd 6 zsm Motor User Manual List of Abbreviations List of Abbreviations Application Specific Integrated Circuit ASIC Refers specifically to Nanomotion Controller Driver chip AC Alternating Current DC Direct Current ICD Interface Controlled Document IPA Isopropyl Alcohol used for cleaning PCB Printed circuit board Nanomotion Ltd 7 E ED
6. e Figure 2 and chapter 7 perform the following steps M1 2 SCREWS X2 DRIVING STRIP STAGE CARRIAGE MOUNTING BASE Figure 2 EDGE motor motion system mechanical parts overview Assemble the slide with the ceramic strip upon the mounting plate Make sure the slide position is according to Figure 10 The slide should be perpendicular to the holes and at the correct distance to enable proper mounting of the motor This can be achieved by designing an alignment feature in the base plate or by using a jig which fits to the motor pin holes in the base a Place the motor finger tip against the ceramic plate and gently press the motor toward the ceramic plate until the motor pins can be inserted into the corresponding holes in the base The motor is now correctly positioned b Insert two M1 2 screws into their corresponding holes on the motor and tighten them to a torque of 10 30 mNm The motor is now Nanomotion Ltd 14 i ate Motor User Manual Motor Installation properly secured in its place For applications which are exposed to external vibrations it is recommended using a bonding material such as LOCTITE 242 to secure the screws c Connect the motor s FPC to the motor interface connector see chapter 8 for Electro Mechanical Interface details located on the user s PCB PCB and FPC design may change for different applications Motor FPC connector E lt e EDGE Motor FPC interface connector L
7. ed linear or rotary motion the EDGE motor offers extensive opportunities in applications that suit a wide range of industries The EDGE motor works with a uniquely designed compact ASIC based driver The EDGE motor can be easily integrated with most types of bearing structures and it is ideal for mass production applications 2 2 EDGE Motor Features e Compact size e Lightweight e High durability for demanding applications e Low voltage e Excellent move and settle characteristics e Suitable for linear or rotary applications e ASIC drive and control o Standard Driving Mode o Linear Driving Mode e Wide dynamic velocity range e Inherent brake at power off e High resolution e Silent Nanomotion Ltd 9 pre S q E y Nanamat L Motor User Manual Motor Operation 3 Motor Operation 3 1 Operation Principle of the EDGE Motor The Piezoelectric effect in piezo materials converts an electrical field into mechanical strain Under special electrical excitation drive and specific geometry of Nanomotion motors longitudinal extension and transverse bending oscillation modes are excited simultaneously at a single frequency The simultaneous excitation of the longitudinal extension mode and the transverse bending mode creates a small elliptical trajectory of the ceramic tip thus achieving the dual mode standing wave motor patented by Nanomotion By coupling the ceramic tip to a precision stage a resultant driving force is exe
8. ege eelere aeaiee eiaeaen aaiae EENS BEER Ea Ea 11 4 1 Mounting Base Design Considerations sn sesessnenteeeeeertnt reeet rtrtrterrnrtntnerenrnn rnent 11 4 2 Bonding the Driving Strip to the Stage eeeeeeseeeneeeeennrreererrnnrrrerrerrrernnererrrnnnnernne 12 4 3 Mounting and Connecting the Motor 14 AA Operating the moior cece cece eeeececeeeeeeeeeceeeeeeeesecaeeeeeeeseceneeeeeeeseeceieeeseeeesnenaeees 16 5 MOTOR CONDITIONING ceeececceseeeeeeeseeeeeeseeeeeeeeeeeeneeeeesnseeeeeeseaeeenseaeeeesseeeeeseeeeenseeaees 17 5 1 The Conditioning Procedure ccecceccecceeeeceeeeeceeeeeeeeceeneeeeeeseseceeeaeeeeeeseeceieeeeeetetees 17 G TECHNICAL DATA eeneg SEENEN 18 6 1 Motor Model for control simulations cence eeeeeeceneeeeeeeseseeneeeeeeeeteeaes 18 EC lte 19 03 DIMENSIONS E 20 6 4 Thermal Envelope of Performance EOP A 20 7 MECHANICAL INTERFACES E eenEgeEeNe ANERER eTEEAEEn 24 7 4 EDGE Motor Layout 24 7 2 Mounting Base Layout 25 8 ELECTRO MECHANICAL INTERFACE cccs ceeceseeceeeseceeeseeeeeeenseeeesesaeeeeesaeeeneeneees 26 9 CONTACT INFORMATION sissscccssisivesleicccbedstuceicscuiuansscedieedsdensdscoesviads ledededsodavscbelenieinseticdins 27 9 1 Customer Service 0 2 22 eccccecceeeeeecneacee ee eeeeee ance eeeeecaeaeeeeeeeegaeaeeeeseegeaeaaneeeeessnsaaeeeeeeeeeaes 27 9 2 General Inquiries and Ordering sssssnsseeeeeeestrt reeter trrtetertrr tatere trnrtererrnnnnneeeenen n 27 N
9. locity damping factor similar to back EMF Nes m Vel Motor velocity m s M Moving mass kg Ss Laplace variable 1 s The diagram refers to both standard and linear modes In linear drive mode Offset is designed to be zero Nanomotion Ltd 18 A lal a EGAL uvanemtion Motor User Manual 6 2 Specifications Performance Specifications Property Maximum Velocity Technical Data Value gt 150 Max Dynamic Stall Force Static Holding Force Static Stiffness Preload on Stage Kf Offset Dead Band In standard drive mode Attainable Resolution Nominal Lifetime gt 300 gt 290 0 06 to 0 09 1 55 to 1 95 30 to 50 1 0 to 2 7 1 0 to 3 5 0 5 20000 Electrical Specifications Property Value Motor Voltage at max 8 5 to 11 command Motor Current at max 130 command Motor Power Consumption 400 to 750 at max command Motor Capacitance between 950 Phase and COMMON Environmental Specifications 10 to 60 Ambient Operating Standard Temperature 45 to 71 S Extended Storage Temperature C 55 to 85 Humidity 0 to 80 non condensing Reference Value With NM Controller Driver and algorithm Nanomotion Ltd 19 EDGE a Fwy xovomoion Motor User Manual Technical Data 6 3 Dimensions In the following table are the external dimensions of the motor For detailed dimensions refer to section 7 1 Physical Dimensions Nominal Val
10. lowable Duty Cycle Figure 7 and Figure 8 display the minimal Motor Velocity vs Driver command in Standard and Linear Modes correspondingly for correlation between driver settings motor performance and EOP Nanomotion Ltd 22 GE senn Motor User Manual Technical Data D N 3 150 100 Velocity mm s Command V Figure 7 Typical Motor Velocity vs Command Operating in Standard Driving Mode 200 150 4 100 4 Velocity mm s 50 4 Command V Figure 8 Typical Motor Velocity vs Command Operating in Linear Driving Mode The motor operates horizontally at room temperature and nominal conditions It interfaces with the Ceramic Driving Strip according to Nanomotion Specifications and a cross roller high quality slide Nanomotion Ltd 23 GE u sanomaton Motor User Manual D N 8 E Mechanical Interfaces 7 Mechanical Interfaces 7 1 EDGE Motor Layout Figure 9 shows the EDGE motor layout according to EDGE INTERFACE DRAWING DIN EDGE458101 2x 21 20 h Interface Pins 1 30 20 05 Interface Pin to finger tip at _preloaded position 3 75 DI H Ee 1 1 5 To tip center Si og e Mounting Surface NOTES T THIS DRAWING REFERS TO SYSTEM P N AMT1130000 00D 2 OPTIONAL CONNECTOR AMP P N 487951 4 2x 01 35 Thru AU For M1 2 Interface Screws Figure 9 EDGE motor mechanical layout Note The dime
11. nsions are in mm Preloaded Position refers to Motor installed on a mounting based according to Section 7 2 Nanomotion Ltd 24 lal a L f 2 ss xonomorion Motor User Manual Mechanical Interfaces D N 7 2 Mounting Base Layout Figure 10 shows the mounting base requirements for EDGE motors according to EDGE INTERFACE DRAWING D N EDGE458101 Mounting Base Requirements M1 2 SCREWS X2 d Mounting Surface 1 To cente or of slot NM EDGE MOTOR Een En DRIVING STRIP 1 20 H7 F 1 2 min STAGE CARRIAGE H 1 20 H7 F 1 2 min M1 20 25 H Y 2 4 min MOUNTING BASE Figure 10 EDGE motor mounting base requirements Note The dimensions are in mm Nanomotion Ltd 25 P amp E s samot Motor User Manual Electro Mechanical Interface amp E 8 Electro Mechanical Interface Standard EDGE Motor FPC is designed to be used with a standard 1mm FPC Connector for example AMP P N 487951 4 See EDGE INTERFACE DRAWING DIN EDGE458101 for details and pinout Note that the EDGE motor is also available with a custom FPC for specific OEM applications Please contact Nanomotion Ltd for advice Electro Mechanical Interface 0 30 FPC Pinout Pads DETAIL A SCALE 6 1 g 0 o E Pinout Table Pin Name Description D i Pi NM motor phase 1 D H P_2 NM motor phase 2 CH COM NM motor common Figure 11 EDGE motor electro mechanical interface Note
12. o condition the motor perform the following steps a Conditioning is optimally performed in close loop b Conditioning must cover the entire expected travel distance on the Ceramic Driving Strip with additional margins c Set the driver to Standard Driving Mode see Section 3 2 d Run the stage repetitively from point to point in closed loop under the following conditions 1 Velocity 70 80 mm s 2 Acceleration Deceleration up to 2 m s 3 Duty cycle 50 This means that the dwell time the driver is disabled should be the same as the move time the driver is enabled 4 Conditioning duration gt 30 minutes For applications where control performance is not too demanding 10 15 min conditioning is sufficient e When the conditioning is completed carefully wipe the Ceramic Driving Strip surface with a Q Tip soaked with IPA without dismounting the motor Run the motor for additional 1 min f The motor is now ready for operation Nanomotion Ltd 17 POLE Z wy xovomovon Motor User Manual Technical Data q 6 Technical Data 6 1 Motor Model for control simulations The EDGE motor moving a slide in a given direction can be modeled as a linear system driven by a DC motor by a voltage amplifier as illustrated in Figure 5 Figure 5 Block Diagram of the Motor and Driver Vin Command to the driver OV lt Vin lt 10V Kf Force constant N V Offset Starting voltage V Kfv Ve
13. ocity plane Table 1 and Figure 6 are designed to assist the user in determining the correct envelope of performance and avoid overheating and damaging the motor Table 1 shows the limiting Duty Cycle and Maximum Continuous Operation time corresponding to the reference curves in Figure 6 for Standard and Linear drive mode when the motor is kept in an environment of up to 70 C Curve c corresponds to performance beyond the maximum allowable velocity and is displayed for reference only Nanomotion Ltd 21 senn Motor User Manual Technical Data Ambient Temperature lt 60 C Standard Linear Duty Cycle Maximum Continuous Operation sec Maximum Continuous Operation sec Brake ON Brake OFF Ambient Temperature 60 70 C Duty Cycle Maximum Continuous Operation Maximum Continuous Operation sec Brake ON Brake OFF Table 1 EOP for EDGE Motor in Standard or Linear Driving Mode For reference only see Footnote 2 Notes The Duty Cycle is the ratio of the operation time and the total work cycle operation time idle time During the idle time the driver can be DISABLED BRAKE ON or set to 0 V command BRAKE OFF In Linear Driving Mode BRAKE ONT and BRAKE OFF are not equivalent Under BRAKE OFF although the driver is set to 0 V command power is still consumed and therefore heat is generated by the motor effectively reducing the al
14. 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 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 Nanomotion Ltd 3 Z TT nmn Motor User Manual This page is left blank intentionally Nanomotion Ltd POE Z Fs sonoma Motor User Manual Table of Contents q Table of Contents 1 GENERAL cas eege Eege 8 1 1 General Handling Guidelines nnsononenenenneenesrnenneetntrtterertrnrtteretennnerartnnn nnar ennenen 8 1 2 Reference Documentation 8 2 INTRODUCTION E 9 21 The EDGE Motor 9 2 2 EDGE Motor Features is icescdiccccvccaeecsustenavncuncdocevecnnes shavecnanbedaseceveeesesdhinannatevdeddeteeteavents 9 3 MOTOR OPERATION eicsiscevvedscccssssune ees cic cesvstcnues sc edevisuceceeseatuuesscccveBuuyterenceeds 10 3 1 Operation Principle of the EDGE Motor 10 3 2 DIVING ele ET 10 A MOTIORINSTALLATION e
15. r performance use of the Ceramic Driving Strip provided by Nanomotion is recommended The Ceramic Driving Strip is specifically designed to work with Nanomotion s EDGE motor Substituting this Strip with any other material might reduce motor performance or damage the motor and will void product warranty 4 1 Mounting Base Design Considerations Refer to chapter 7 for motor and mounting base drawings note that mounting base dimensions refer to the front surface of the Ceramic Driving Strip The mounting base should be perpendicular to the Ceramic Driving Strip Both screws securing the motor to the mounting surface are inserted from the top of the motor In multi axis application make sure that any protrusion of the screws does not interfere with motion on another axis IMPORTANT e The mounting base the stage and the method used for mounting should be designed for maximum mechanical rigidity and stiffness 25 N um The ceramic strip surface should move parallel to the motion The maximum allowable run out of the strip should not exceed 0 03mm chapter 7 Nanomotion Ltd 11 GE s samst Motor User Manual Motor Installation D N 3 E 4 2 Bonding the Driving Strip to the Stage Bond the Ceramic Driving Strip to the stage surface according to the following steps a Clean the bonding area of the stage using a suitable agent such as Acetone IPA or Ethanol b Remove the Acrylic adhesive Tape backing paper from the Ce
16. ramic Driving Strip c Attach the Ceramic Driving Strip to the previously cleaned stage area see Figure 1 making sure no air bubbles are trapped between the stage and the ceramic strip Epoxy drops on the center of the ceramic strip Optional Epoxy drop on the end of the ceramic strip Figure 1 Bonding the Ceramic Driving Strip d Verify that there is a maximum gap of 0 5mm between the lower edge of the Ceramic Driving Strip and the motor mounting surface refer to chapter 7 to assure enough clearance for the motor tip e Apply two drops of Epoxy adhesive on the center of the Ceramic Driving Strip surface about 5 10 mm apart For short strips up to 10mm a single drop can be applied on each end of the Ceramic Driving Strip see Figure 1 The Epoxy must bond the strip to the slide Recommended adhesive 3M 2216 Epoxy or compatible Nanomotion Ltd 12 EDGE Za Fwy xovomovon Motor User Manual Motor Installation f Allow the required time period for curing according to the epoxy manufacturer s specifications IMPORTANT e Ensure that the epoxy is in contact with the surfaces of both the strip and slide but that it does not flow over the Ceramic Driving Strip front surface or over the upper working surface of the slide Nanomotion Ltd 13 GE F senn Motor User Manual Motor Installation D N 4 3 Mounting and Connecting the Motor In order to mount the motor against the moving slide se
17. rranty commences thirty 30 days from the date of shipment NM warrants those parts replaced under warranty for a period equal to the remaining warranty 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 to determine 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
18. rted on the stage causing stage movement The periodic nature of the driving force at frequencies much higher than the mechanical resonance of the stage allows continuous smooth motion for unlimited travel while maintaining high resolution and positioning accuracy typical of piezoelectric devices Travel can be linear or rotary depending on the coupling mechanism 3 2 Driving Modes The EDGE motor can be driven by a custom NM ASIC driver or alternatively by an XCD EDGE Driver Controller refer to section 1 2 for Reference Documentation The ASIC Driver can drive the motor in two driving modes Standard Driving Mode standard motor operation mode In this mode the motor is motionless up to approximately 1 5V command Dead Band Nanomotion motion algorithm enables smooth motion as well as micron level displacement This drive mode is the default mode for open close loop Linear Driving Mode this mode facilitates a linear response of the motor from 0 zero command level This mode is recommended for scanning applications and micron level displacement The Linear Mode drive is preferable for perfect servo tracking and or very low ripple constant velocity Nanomotion Ltd 10 EDGE a sn Motor User Manual Motor Installation 4 Motor Installation This chapter provides detailed information about bonding the Ceramic Driving Strip and mounting and connecting the EDGE motor before operation To ensure peak moto
19. ues Length mm Width mm Height mm Weight g 6 4 Thermal Envelope of Performance EOP Motor operating temperature is a result of the balance between heat generation and heat dissipation o The heat generation depends on motor s work regime driver command level o The heat is dissipated through the following heat transfer mechanisms conduction radiation and convection by air The heat dissipation mechanisms should be able to dissipate the heat generated in order to avoid overheating The EOP gives the user the tools to assess the permitted operating conditions for a set ambient temperature and dynamic performance deriving the Duty Cycle and or Maximal Continuous Operation that assures safe operation The user can operate the motor at a specific Duty Cycle for a periodic time interval which does not exceed the continuous time interval specified under Maximal Continuous Operation For a given application at a given motion profile the work regime is determined by the F V curve given in Figure 6 Nanomotion Ltd 20 EDGE a osnon Motor User Manual Technical Data 0 45 5 P Force N gt So CO ad oP a ON Sw a e an a wo wo CH 0 50 100 150 200 250 Velocity mm s Figure 6 EDGE motor Force vs Velocity at different work regimes Considering the above Figure 6 there is a corresponding limiting Duty Cycle and Maximum Continuous Operation time for each point on the motor force vel
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