ST Motor User Manual
Contents
1. eeeeeeseeeeeeseeeeenee nennt nnn nnn nnnn nnne 13 5 1 Defining the EDD aeneae facie E E a rette n ogee dar te denas 15 5 2 Considerations for Heat Dissipation in Vacuum Environment 15 6 BIMENSIONS ooo Soca edet ha Se al La ade ae gtd esheets 16 Nanomotion Ltd 5 ST Motor User Manual Lists of Figures and Tables List of Figures Figure 1 Mounting the motor estu ton ee br e E en n qu e adres RU ben ues 9 Figure 2 Driver Connector Pin Arrangement sssssseee 10 Figure 3 Motor Velocity vs Command ssssessseeeeeeeeeennm nennen nnn 13 Figure 4 Force vs Velocity at Various Work Regimes eesee 14 List of Tables Table 1 EOP Nanomotion Ltd 6 ST Motor User Manual List of Abbreviations A Ampere AC Alternating Current DC Direct Current LED Light Emitting Diode mA milli Ampere mW milli Watt PWM Pulse Width Modulation TTL Transistor Transistor Logic Vrms Volts Root Mean Square DIP Dual In line Package Nanomotion Ltd List of Abbreviations ST Motor User Manual Introduction 1 Introduction This manual is designed to help the reader to operate the ST Motor It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures 1 1 Handling and Safety Precautions Do not power on the motor2. unless it is properly mounted as explained Use only a clean cloth to wipe the motor Do not use any solvents Ensure that the motor and specifically its tip are not subjected to mechanical shocks The mounting base and the method used for mounting should be designed for maximum mechanical rigidity and stiffness Nanomotion Ltd 8 ST Motor User Manual Motor Installation 2 Motor Installation 2 1 Mounting the motor Mount the Motor on the Base plate as shown in Figure 1 Use the spacer to ensure the correct distance between the motor and the ceramic drive strip Slide Ceramic driving plate Motor Base plate Figure 1 Mounting the motor Use 4XM2 screws to tighten motor to base 2 2 Motor Grounding Be sure to ground the motor or its conductive base plate to the electrical network ground before operating Nanomotion Ltd 9 ST Motor User Manual Motor Installation 2 3 Motor Connections This section describes the Motor connector Pin Out and the connections to each of the available drivers Ensure that the driver is set to operate with the ST motor series IMPORTANT Reducing the length of the supplied motor cable may damage the motor Do not attempt to shorten the cable without prior confirmation by Nanomotion Extending the motor cable will not damage the motor however it will affect its performance The Motor Driver connection uses a standard 9 pin D type female connector For the pin ar
3. 063 7 211 929 69941195 5 1577961 4813708 6 879 085 6 979 936 7 439 652 7061158 1800356 1800356 1800356 2007 533057 pending 2011 093431 pending 7 876 509 10 2007 7009928 pending Nanomotion Ltd 3 ST Motor User Manual Table of Contents 200780019448 6 7713361 9 pending 12 294 926 pending GB2008000004178 pending GB2009000003796 pending 12 398 216 pending GB2446428 12 517 261 pending 08702695 1 pending 10 2009 7017629 pending 12 524 164 pending 12 581 194 pending Revision History ECO Revision Release date Details NA NA Aug 2012 Administrative change added patent information section in front matter Nanomotion Ltd ST Motor User Manual Table of Contents Table of Contents T INTRODUCTION ssia iain ceca eshesicati lessee nodal ceehetladal ara aaas kaiao aUora Lan airaa 8 1 1 Handling and Safety Precautions cccccccceeeeesececeeeeeeeeeeeeessnaaeeeeeeeeeeeeeeeneenaaaes 8 2 MOTORINSTALLATION 2 1 1 enne nh cere anaiita eet bie eee 9 2 1 Mounting the MOtOF sae eto setenta ear bedeDR d 9 2 MOto Grond cte oma GG D MK MEE LE 9 2 9 LMOIOGORHSCUODS Tete tes B Ut mco doma eee nmn 10 3 MOTOR CONBITIONING 2 2 erroe ttu terea ee xa usan ota Ic la rne Iioc tex asus Seca danian daii 11 4 TECHNICAL DATA eu eiie one t etu eee es eee lea dede 12 4 1 Specification Mr 12 5 ENVELOP OF PERFORMANCE EOP
4. ANIT nanonorion A Johnson Electric Company ST Motor User Manual D N MST1458000 00 REV C August 29 2012 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 ST Motor User Manual CE compliance CE Compliance This product has been tested for Electromagnetic compatibility and found to be in compliance with EMC Directive 89 336 EEC as amended by 92 31 EEC and 93 68 EEC Harmonized Standards to which conformity is declared EN 50081 2 1993 EN 55011 1991 Generic Emission Standards Class A for radiated emission and Class B for conducted emission EN 50082 2 1995 Generic Immunity Standard Nanomotion Ltd ii ST Motor User Manual 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 2004 2012 Yokneam Israel All rights reserved All products and comp
5. any names are trademarks or registered trademarks of their respective holders Nanomotion Ltd 2 ST Motor User Manual Table of Contents 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 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 t
6. ature Vacuum level Storage Humidity Physical Dimensions Weight Nanomotion Ltd Technical Data 250 mm sec 1 3 N 1 3 N reference value 0 15 N u 9 N 0 to 2 V Driver dependant Better than 50 nm See application notes 20 000 hours under nominal operating conditions 170 Vrms sine wave 80 mA rms Cable length dependant 3 5W 0 50 C 107 Torr guaranteed only after baking 40 C 70 C 0 80 non condensing 5 5gr 12 ST Motor User Manual Envelop of Performance EOP 5 Envelop of Performance EOP The following graph see Figure 3 illustrates motor velocity as a function of the applied driver command voltage Allowing up to 30 mm sec variations use itas a reference and as a guideline for expected motor performance Motors velocity VS command 300 0 9 250 0 O g 200 0 E gt 150 0 8 100 0 500 0 0 0 1 2 3 4 5 6 7 8 9 10 Command V Figure 3 Motor Velocity vs Command A WARNING The EOP depicted herein should not be used when operating the motor with the AB5 driver Otherwise irreversible damage to the motor may result Please consult Nanomotion for the correct EOP with the AB5 driver Nanomotion Ltd 13 ST Motor User Manual The following graph see Figure 4 and table are designed to help the user determine the correct performance envelope of operation so as to not overheat an
7. d damage the motor Force Envelop of Performance EOP Force Vs Velocity at various work regimes 50 100 150 200 250 300 Velocity mm sec Figure 4 Force vs Velocity at Various Work Regimes Nanomotion Ltd Air 25 C Vacuum 25 C CUNE Maximal Maximal Duty Continuous Duty Cycle Continuous Cycle Operation Operation time sec time sec a 100 CO 100 o0 b 100 o0 40 60 c 100 o0 30 35 d 90 70 25 30 e 80 50 11 20 f 70 40 10 15 g 60 30 9 8 Table 1 EOP 14 ST Motor User Manual Envelop of Performance EOP 5 1 5 2 Defining the EOP An example for using the above graph and table A vacuum application requires 0 6N at a velocity of 50mm sec The graph shows that this point of operation corresponds to curve b The table shows that curve b in vacuum environment require that a duty cycle of 40 will not be exceeded while maintaining a maximum continuous operation time of 60 seconds Considerations for Heat Dissipation in Vacuum Environment Heat dissipation mechanism is based on radiation to the motor case and by conduction through the finger Hence the motor and the ceramic drive strip bases must both be thermally designed to dissipate 0 25W each per motor with a temperature rise of 15 C maximum Also the temperature of all parts in contact with the motor and with the ceramic drive strip should not exceed 30 C Nan
8. o 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 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 Patent Information Nanomotion products are covered under one or more of the following registered or applied for patents 5 453 653 5 616 980 5 714 833 111597 5 640 063 6 247 338 6 244 076 6 747 391 6 661 153 69838991 3 6 384 515 7 119 477 7 075 211 69932359 5 1186
9. omotion Ltd 15 ST Motor User Manual Dimensions 6 Dimensions CABLE OUT 4xM2 A 3 22 8 Notes n Dimensions refer to a correctly mounted motor n All dimensions are in mm a Tolerance 0 3 Nanomotion Ltd 16
10. rangement diagram refer to Figure 2 Motor Connector Pinout Direction 1 Common Direction 2 Screen o NINI 0 A oa Figure 2 Driver Connector Pin Arrangement Note o For safety reasons the driver voltage is disabled unless pins 1 and 6 are shorted when the motor is connected WARNING High voltage Do not remove the cover of the motor or disassemble its connector Nanomotion Ltd 10 ST Motor User Manual Motor Conditioning 3 Motor Conditioning In order to ensure proper Motor operation reduce wear rate of the system and to increase its lifetime it is important that the Motor is run in before normal use Following is the list of conditions for the ST motor conditioning e Velocity 100 mm sec e Duty cycle 50 e Duration 4 hours Once the Run in is completed carefully clean the ceramic strip with a Q Tip soaked in IPA without dismounting the motor A WARNING Do not perform the Run in procedure in a vacuum environment Nanomotion Ltd 11 ST Motor User Manual 4 Technical Data 4 1 Specifications Performance Maximum Allowable Velocity Dynamic Stall Force Static Holding Force Non Energized Stiffness Nominal Preload on Stage Offset Attainable Resolution Nominal Lifetime Electrical Maximal Voltage Maximal Current consumption Maximal Power Consumption Environmental Ambient Working Temper
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