AB2 Driver User Manual
Contents
1. e Mechanical screws lock all connectors e The external power supply is capable of supplying the required power consumption of the AB2 see Table 3 e There is no command when switching the power to ON e All motors are correctly mounted and preloaded 1 The command should be limited according to the envelope of performance of the motor Refer to the Motor User Manual 24 ATTENTION 2 Driver should be grounded to infrastructure earth before operating 13 AB2 Operation Operation Modes 3 AB2 Operation 3 1 Operation Modes The AB2 can be operated in one of the following operation modes e Velocity AC Mode in which the motor is driven continuously This is the default mode e Step Mode in which the driver output is turned OFF and ON at hardware predefined intervals thus driving the motor in discrete steps e Gate Mode enables to drive the motor in low velocities in open loop by turning the driver output ON and OFF in time intervals defined by the user e DC Mode in which the motor works as a piezo actuator enabling accurate positioning of a few nanometers Both Enable In and Motor Connected inputs must be active for the four modes to operate 3 1 1 Velocity AC 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 3 1 2 Step Mode operation In this operation mo2. 4 D Type 9 Pin Female D Type 9 Pin Male J s Q Z C D G OJ O Z O 1 w UP NANOMOTION Motor Figure 6 Joystick Connection Connections and I O Settings Cable Connections 2 3 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 2 3 1 Shielding Since the high motor voltage is induced on the cable shield it is required to ground the shield on both sides Both the driver card and the motor should be grounded 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 9 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 AB2 Driver Box 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 Nanomotion Ltd 10 AB2 Driver Box User Manu
3. nm from the point reached by the motor while operating in the regular Velocity AC mode As shown in Figure 9 the position is a linear function of the command voltage with certain hysteresis some asymmetry is normal and expected 15 AB2 Operation Operation Modes Position nanometer 10 3 de Mes o dT on a PR ae Voktage volt Figure 9 Typical DC Mode Behaviour 3 1 4 1 Enabling the DC Mode Enable the DC mode of operation by shorting pin 21 to the ground When switching between AC and DC modes the command voltage should be less than 5V Warning Time elapsed between connecting disconnecting pin 21 to ground and driver engaging in DC AC mode is 1 ms Nanomotion Ltd 16 AB2 Driver Box User Manual Specifications 4 Specifications 4 1 Parameters and Conditions Table 2 AB2 Power Consumption Power Input 24 VDC 5 stabilized Max Motor Output 280 Vrms Power Consumption without Load 24 VDC 200 mA Power Consumption with Max load 24 VDC 5A Table 3 Electrical Specifications Supply Current Applicable When Voltage Consumption F rr 400 mA HR1 is connected 800 mA HR2 is connected 24 VDC 5 1500 mA HR4 is connected 2 2800 mA HR8 is connected 300 mA ST 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 AB2 power consumption without motor 24 V
4. 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 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 Purch
5. 20 Table 9 Motor Output Port Pin Out oococcccnnnnccccccnnoncnononnnonononononnnnnnonnnnnnencninnnnnnnnnnanos 20 Table TO V0 Port Pin OU ass Aa 21 List of Abbreviations Nanomotion Ltd vi List of Abbreviations A AC DC LED mA mW TTL Vrms Ampere Alternating Current Direct Current Light Emitting Diode Milliampere Milliwatt Transistor Transistor Logic Volts Root Mean Square 1 1 1 2 AB2 Driver Box User Manual AB Description AB2 Description General The AB2 is a single axis 24V amplifier box designed to drive up to 16 Nanomotion motor elements Its main feature is the ability to drive motors in the Piezo Actuator mode of operation or DC Mode which enables the motors to achieve superior position resolution and accuracy in the range of a few nanometers on target Currently the motors driven by the AB2 are the HR types and the ST Main Features e High precision 11 bits control of the output power stage e Drives up to two HR8 motors e Four operation modes Velocity Step Gate and DC e Interface to an analog command e Discrete inputs enabling feedback from external sources such as limit switches emergency stop command etc e Tricolor LED indicators e Over Current Over Voltage and No Load protections e Minimized sensitivity to cable lengthening e Compact dimensions AB2 Description Operating Principles 1 3 Operating Principles The AB2 Box consi
6. DC 125 mA ms 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 4 Physical Proprties Weight 450g 17 Specifications Parameters and Conditions Table 5 Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Operating Humidity Up to 80 Non condensing Table 6 Analog Input Specifications Input voltage range 10V Input impedance 10kQ Input low pass filter 2 7 kHz Table 7 DC Mode Specifications Switch time between Velocity and DC modes ims Range 300nm Nanomotion Ltd 18 AB2 Driver Box User Manual Specifications 4 2 AB2 Layout The dimensions are given in mm 116 General Tolerance 0 4 4xM3 FOR MOUNTING 2 SLOTS FOR MOUNTING USE M4 SCREWS DIN 7985 Figure 10 AB2 Layout 19 Specifications AB Pin Arrangement 4 3 AB2 Pin Arrangement Table 8 Control Terminal Pin Out 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 9 Motor Output Port Pin Out Pin Signal Name Fun
7. NANOMOTION tro September 2003 P N ABO2 458 000 A Nanomotion Ltd POB 223 Yokneam 20692 Israel Tel 972 4 959 0862 Fax 972 4959 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 July 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
8. Terminal Male CONTROLLER Twisted and shielded cable Vout Vout Shield STATUS ENABLE A 3 ENABLE 24 AB2 Card D Type 25 Pin Male D Type 25 Pin Female D Type 9 Pin Female NANOMOTION Motor Figure 4 Differential Analog Input Connection The other option of an analog controller connection is the single ended connection Connections and I O Settings Motion Control Interfaces DC POWER SUPPLY 2x LEDS Block Terminal Male AB2 Card D Type 9 Pin Female D Type 9 Pin Male OJ Z CONTROLLER Twisted and shielded cable Vout Vout Shield 3 STATUS ENABLE ENABLE 24 D Type 25 Pin Male D Type 25 Pin Female PLANT Emergency Stop 12 Right Limit_22 E A Left Limit 10 GND 4 G NANOMOTION Motor Figure 5 Non Differential single ended Analog Input Connection Nanomotion Ltd 8 AB2 Driver Box User Manual Connections and I O Settings 2 2 2 Joystick Connection Using the joystick for supplying the command voltage to the AB2 Driver Box allows the user to manually drive the motor without using a motion controller DC POWER SUPPLY o ENABLE 2x LEDS Block Terminal Male JOYSTICK Twisted and shielded AB2 Card am mzo4zm ov PLANT D Type 25 Pin Male D Type 25 Pin Female FAULT 3 Status ENABLE 24 Emergency Stoj 12 Right Limit 22 Left Limit 10 GND
9. al Connections and I O Settings 2 4 1 Motor Cable Length The maximum allowed total cable length connecting the AB2 to the motor s is 20 meters for the HR types and 10 meters for the ST Use Nanomotion standard cables Branching is possible to two and four identical motors Branch cables must be of identical length the A sum of which not exceeding the 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 by shorting them to ground See also Table 10 e Powering Emergency Stop Disables the AB2 output Enable In Should be activated before the motor can be run e Mode Enabling Step In Enables Step Gate operation Modes DC Mode Activates the DC mode of operation e Direction Restrictions Left SW Disables the motor motion to the left Right SW Disables the motor motion to the right VCC 1 Jumper 3 re 1 VCC User Voltage e 2 3900 To control logic os Command Input DO AB4 Figure 7 Opto Isolated Input Interface 11 Connections and I O Settings Opto isolated Inputs 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 8 is provided by either the internal 5V supply default state
10. analog command input 15 GND Ground 16 STEP IN GATE Input Used in Step amp Gate modes see sections 3 1 2 1 3 1 3 1 and 2 5 17 MRN Input Master Reset Activated shorted to ground 18 NC Not used 19 NC Not used 20 NC Not used 21 DC MODE Input Enables DC mode operation See Sections 3 1 4 1and 2 5 22 RIGHT_SW Input Right Limit Switch see section 2 5 23 12V Output Accessory voltage for powering an external device Max 360mW Return is the GND pin 24 ENABLE IN Input Enable signal see section 2 5 25 5V Output Accessory voltage for powering an external device max 3 5W Return is the GND pin 21
11. aser 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 AB2 DESCRIPTION uante tkd 1 1 1 E aorta tn aat lod nea 1 1 2 Main F aturesu RE N ORE EN NE die 1 1 3 Operating Prin ipleS sis 2 0 a oe de ae ED oe ii tada dida 2 2 CONNECTIONS AND I O SETTINGS ee ese ee ese ee Rae EE Re ee AE Re AR Rae ER KEER RR Re AR KRAAK EER RR Re RR Ke AR Rae ER Ee ee EE 4 2 1 FrontPanel Descriptionuaraustua gretne ance hasten cert aceta
12. ction 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 ground Shorted to the shield 8 N C Not used 9 N C Not used Nanomotion Ltd 20 AB2 Driver Box User Manual Specifications Table 10 I O Port Pin Out Pin Name Function Description 1 VIN Input Positive analog command input 2 GND Ground 3 FAULT Output See section 2 6 4 GND Ground 5 NC Not used 6 DIRECTION Input For Factoty Use 7 NC Not used 8 GATE INT MODE Input Enables Gate Mode operation See section 3 1 3 1 9 GND Ground 10 LEFT SW Input Left Limit Switch see section 2 5 11 12V Output Accessory voltage for powering an external device Max 360mW Return is the GND pin 12 EMERGENCY STOP Input Protection Input see section 2 5 13 USER VOLTAGE Input External power supply for the opto isolated type inputs see section 2 5 1 14 VIN Input Negative
13. d COMMON terminals causes the motor to move in the opposite direction Figure 2 is a schematic drawing of the power output Nanomotion Ltd 2 AB2 Driver Box User Manual AB Description 24V SA DC to DC converter 5v 12v 12v voltage feedback PWM drive ad_directio Motor frequency ANALOG serial data i Vin Vin INTERFACE Direction Power PWM stage ditherring CONTROLLE over voltage protection emergancy enable DISCRETES EE er right amp left INPUTS secondary over voltage protection Transformer motor connector Motor Figure 2 Schematic Diagram of the Output Stage in a Single Motor Configuration Connections and I O Settings Front Panel Description 2 2 1 Nanomotion Ltd 4 Connections and VO Settings Front Panel Description The AB2 front panel see Figure 3 contains the following connectors and indicators e Control Terminal e Motor Output port e I O port e Enable Fault Indicators e Ground Screw AB2 DRIVER BOX VO PORT ENABLE g o af y he 210009 a AA AA YR POWER Figure 3 AB2 Driver Box Front Panel AB2 Driver Box User Manual Connections and I O Settings 2 1 1 Front Panel Connectors Connector Description 5 pin connector Provides input from an external 24 VDC power supply C
14. de the driver output to 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 command input value and thus determines the speed of the motor Nanomotion Ltd 14 3 1 2 1 3 1 3 3 1 3 1 3 1 4 AB2 Driver Box User Manual AB2 Operation Enabling the Step Mode Enable the Step operation mode by shorting pin 16 to the ground Gate Mode Operation In Gate Mode as opposed to Step Mode the pulse width and pulse frequency are user defined The driver output to the motor is turned on and off in time intervals defined by an external switching signal The amplitude of the output corresponds to the analog command input value and thus determines the speed of the motor The allowable parameter values for the external signal are as follows e Voltage levels OV on 5V off Open collector logic is also optional e Minimum pulse width 50 usec e Maximum pulse frequency 1 kHz Enabling the Gate Mode Enable the Gate mode of operation by shorting pin 8 to the ground Verify that pin 16 is not shorted to the ground at the same time Once pin 8 is shorted the driver is in Gate Mode The external signal should now be conducted through pin 16 DC Mode Operation When operating in the DC mode the driver enables the motor to converge to 10nm and less The travel available in this mode is 300
15. ee ee msn ann 17 4 2 AB2 Layout it dd dd N ED 19 4 3 ABZ2 PIN ATAN MEN ob 20 Mi List of Figures List of Figures Figure 1 AB2 Block DIO Mia ie 2 Figure 2 Schematic Diagram of the Output Stage in a Single Motor Configuration 3 Figure 3 AB2 Driver Box Front Panel sers sesse koek ge de ese ee 4 Figure 4 Differential Analog Input Connection ese ee ee ee ee ee RR Re ee ee de 7 Figure 5 Non Differential single ended Analog Input Connection ee ee ee 8 Figure 6 Joystick Connection 9 Figure 7 Opto Isolated Input Interface is ee ee ee ee ee ee ee ee ee ee ee 11 Figure 8 Jumper 3 Configuration an era o GR SE Ee ye De ED an eg 12 Figure 9 Typical DC Mode BehaviOUr ss ee ee ees ee se Ge ee de ke Gee Ge De ee AE se dee ee 16 Figure 10 AB2 L youl dei 19 Nanomotion Ltd iv List of Tables List of Tables Table 1 LED indicators ann 5 Table 2 AB2 Power Consumption eeensnnnnnennnnnnnnnnnnnnnnn nn 17 Table 3 Electrical Specifications 0enenennnnnnnnene nennen 17 Table 4 Physical Proprties 0nnenenennennenene nennen 17 Table 5 Environmental Gondilions ae era Aaa eee 18 Table 6 Analog Input Specifications unnenneenneenee nennen nn 18 Table 7 DC Mode Specifications 0nnneneenneenneenenene nenne nenn 18 Table 8 Control Terminal Pin Out iss ER EE EE sense eek de Be ee nannte
16. ontrol 5A maximum terminal Provides direct control of the motor ENABLE signal The primary voltage 24V is supplied from an external source D type 25 pin connector female Interfaces to the control source joystick or I O Port controller Motor Out D type 9 pin connector male Interfaces to the motor See also Table 8 Table 9 and Table 10 2 1 2 Front Panel LED Indicators Table 1 LED indicators 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 Connections and I O Settings Motion Control Interfaces 2 2 Motion Control Interfaces The AB2 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 AB2 Driver Box are provided in following sections The motor may be operated with minimum control signals applied G NOTE to the Control Terminal 24V GND POWER VIN VIN ENABLE IN 2 2 1 Analog Controller Connection There are two options of an analog connection of a motion controller to the AB2 Driver Box e Differential connection see Figure 4 e Single Ended Connection see Figure 5 The differential connection enhances noise immunity Nanomotion Ltd 6 AB2 Driver Box User Manual Connections and I O Settings DC POWER SUPPLY 2x LEDS Block
17. or an external voltage supply via pin 13 on the VO Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 1 on the AB2 card according to the voltage source e Pin 1 shorted to Pin 2 for an internal 5V source default factory setting e Pin 2 shorted to Pin 3 for an external voltage source el 1 el JP1 JET o o le Connection for Connection for Internal source External source Figure 8 Jumper 3 Configuration Do not short Pin 1 to Pin 3 on JP3 Doing so shorts the 1 ATTENTION external power supply to the 5V supply The input circuit is limited to sink up to 10 mA but not less than 3 mA Nanomotion Ltd 12 AB2 Driver Box User Manual Connections and I O Settings 2 6 Fault Output The Fault Output follows open collector logic When activated by shorting to ground it disables the motors under the following conditions e Over current 8A e Over voltage e The motor is not connected and the Motor Connected signal section 2 4 is floating e The AB2 is disabled or the Emergency Stop input is activated e One of the Limit Switches is activated A The Fault output is capable of sinking a maximum of 20 mA and is not NOTE protected from over current 2 7 Before Operating the Motor Before operating the AB2 verify the following e Jumper JP1 is set to the required mode of operation see section 2 5 1
18. sts of a single card command source that converts the input command signal into a corresponding PWM output signal In this mode the output transformer amplifier circuit converts the PWM output signal into a high voltage sine wave that drives the motor The PWM controller is power fed from an internal DC to DC converter that is fed from an external 24V power supply The AB2 card consists of DC DC converters that provide the voltages necessary to operate the amplifier circuit 5V 12V In addition the card contains two indicators LED s and the external interface connectors for the CONTROL MOTOR and I O signals Figure 1 illustrates a typical application of the AB2 Driver Box Power Supply AE A vd Source AAA A Command AB2 PWM Output PWM Transformer DC to DC Input Amplifier and Converter PWM Controller Push Pull Resonant Driver Figure 1 AB2 Block Diagram This square wave from the PWM Controller is filtered through the serial inductance circuit and fed to the push pull transformer circuit to produce a sine wave high output voltage on the secondary coil of the transformer The secondary coil and the motor capacitance serve as the LC resonance circuit The motor is a three terminal component UP DOWN and COMMON The voltage applied between the UP and COMMON terminals causes the motor to move in one direction while voltage applied between the DOWN an
19. te nie ae eee 4 2 1 1 ErontPaneal Connectors ER VEE EE ie OE den DERE haddde ea Js den ER Ee de ee De inden dened ds 5 2 1 2 Front Panel LED Indicators isi ss ewig eed En 5 2 2 Motion Control Interfaces cece eed teeter ed ni 6 2 2 1 Analog Controller Connection ee Re ee Re Ge RR ee ee Re ee RR ee ee Re ee ee RR ee ee ee 6 2 2 2 Joystick Connection ictericia 9 2 3 Gable Connec ToS s EE ae 10 2 3 1 Shieldingu EE EE a EE ER et 10 2 4 Motor Connections si ke EE He Des lili 10 2 4 1 Motor Gable Lengte safes a Ge gee Ee 11 2 5 Opto isolated INPUTS suicida A ee eee ee and 11 2 5 1 Voltage Source ConfiguratiON ee se ee ee ee Re ee Ge Re Ge Re ee Re ee ee Re ee ee Re ee ee ke ee ee ee 12 2 6 MES ed ER EE OE OE N i 13 2 7 Before Operating the Motorisa ees ee EA Re ee ee be ee GR Re ee ek ke ARRIARAN Re ee ee be ee 13 3 AB2 OPERATION EE EE OR RE 14 3 1 Operation Modes is SE Ee EE De OE Ge Re GE Ee atada 14 3 1 1 Velocity Mode Operations ist ee sek be gesek tad geiles He 14 3 1 2 Step Mode operation si EE EE EE EE esate tad ee nena an 14 31 2 1 Enablingithe St p Mode vunne nn 15 3 1 3 Gate Mode Operation idea 15 3 1 3 1 Enabling he Gate Mode rosaa EE Ke EE nennen 15 3 1 4 DE Mode Operation ee a ares 15 3 1 4 1 Enablingthe DG Mode Ee hoe RR DES GE ESE Re ER Ee Ee Re N ED Ge ER ee es oe Ee ee ee asin ais 16 4 SPEGIFICATIONS une Gee Gee ee AAR 17 4 1 Parameters and Conditions eoaid aaia aA EA nano nn cc nana Re
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