AB1A Driver Box User Manual
Contents
1. e Powering Up Down Enable Enables the driver activation Should be activated before the motor is run Emergency Stop Disables the AB1A 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 VCC VCC User Voltage 3900 To control logic Command Input AB1A Figure 7 Opto Isolated Input Interface Nanomotion Ltd 18 ABIA Driver Box User Manual Connections and I O Settings 2 5 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 UO Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 1 located near U1 on the AB1A card according to the voltage source e Pin 1 shorted to Pin 2 for an internal 5V source factory setting e Pin 2 shorted to Pin 3 for an external voltage source i Do not short Pin 1 to Pin 3 on JP2 Doing so shorts the external KZ 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 Figure 8 Jumper 1 Configuration 19 Connections and I O Settings Fault Ou2. Other changes to the manual are primarily editorials aiming to make the manual a more user friendly one Nanomotion Ltd 8 1 1 1 2 AB1A Description General AB1A Description General The AB1A is a single axis Amplifier Box designed to drive up to 32 motor elements in parallel The AB1A Card consists of DC DC converters that provide the voltages necessary to operate the amplifier circuit 5V 12V 3 3V In addition the card contains two LED indicators and the external interface connectors for the INPUT MOTOR and I O signals The system configuration may require an LC Card that is connected either internally to the AB1A Card or externally in a separate LC Box If the LC Card connection is external then it is required to connect an adapter card to the AB1A The adapter card shorts the necessary pins to enable the connection of the external LC Card Main Features High precision 11 bits control of the power output stage e Drives up to 32 Nanomotion motor elements in parallel e Three modes of operation Velocity Mode Step Mode and Gate Mode Interfaces with an Analog command e Discrete inputs enable feedback from external sources such as limit switches emergency stop command etc e LED indicators Reduced sensitivity to cable length and capacitance e Compact dimensions AB1A Description Operating Principles 1 3 Operating Principles The AB1A Driver Box comprises the AB1A main card and an LC
3. Differential Analog Input Connection sse enm emm en 14 Figure 5 Non Differential single ended Analog Input Connection ceeeeeeeeeeeeeeeseenteeeteenaeees 15 Figure 6 Joystick Connection diee ddr bee Eee te eee Pale itc eec bU 16 Figure 7 Opto Isolated Input Interface A 18 Figure 8 Jumper 1 Confouraton nenne een eren en nnne 19 Figure SABIA Layout 2 n m ot BEER or t es etti as 25 List of Tables Table 1 AB1A Power Consumption sss nene eren nennen nnn 23 Table 2 Electrical Specifications A 23 Table 3 Physical dimernslons 2 nit n E bet ERI tob RED die 23 Table 4 Environmental Conditions seisne eE nn rra eene nnne nnns 24 Table 5 Analog Input Specifications nn 24 Table 6 Control Terminal Pin Out 26 Table 7 Motor Output Port Pin Out 26 Table 8 HCH Connector Pim Qut da eh t Pe e ei rr ea 27 Nanomotion Ltd 6 List of Abbreviations List of Abbreviations Ampere Alternating Current Direct Current Coil Capacitor Resonance Circuit Light Emitting Diode Milliampere Milliwatt Transistor Transistor Logic Volts Root Mean Square New Edition Remarks New Edition Notes This edition is released to reflect the following changes 1 New mode of operation has been added to the driver Gate Mode for more details see Section 3 1 3 This new feature is available in drivers bearing serial numbers 4800 and forward 2 CE compliance section has been revised
4. The schematic diagrams of the motion controller and joystick connections are provided in the following sections The motor may be operated with minimum control signals applied ut NOTE to the Control Terminal i 48V GND POWER VIN MIN ENABLE IN 2 2 1 Differential Analog Connection There are two options of connecting a motion controller to the AB1A Driver Box Differential connection see Figure 4 e Single Ended Connection see Figure 5 The differential connection enhances noise immunity 13 Connections and I O Settings Motion Controller Joystick Connection DC POWER SUPPLY 2x LEDS BLOCK TERMINAL MALE mm 9 ENABLE MODE A GND 15 cue InMode 16 W u d a lt CONTROLLER twisted and shielded cable a ifi wa 2 E Amplifier a z ircui Vin 14 MI TIE Circuit Shield HI D STATUS ENABLE A gt E ENABLE A E 1 a E a PLANT Be Emergency Stop1 Right Limit2 gt Left Limit 10 p D NANOMOTION Motor Figure 4 Differential Analog Input Connection Nanomotion Ltd 14 ABIA Driver Box User Manual Connections and I O Settings DC POWER SUPPLY 2x LEDS BLOCK TERMINAL MALE MODE 4 Ls ul ul 24 lt lt CONTROLLER hr Twisted and shielded cable SEI E D S zl amp Amplifier iind oa Circuit Shield ul A Faura E
5. H STATUS ra a ENABLE gt aj k a PLANT N D Left Limit 10 GND 4 NANOMOTION Motor Figure 5 Non Differential single ended Analog Input Connection 15 Connections and I O Settings Motion Controller Joystick Connection 2 2 2 Joystick Connection Using the joystick for supplying the command voltage to the AB1A Driver Box allows the user to manually drive the motor without using a motion controller MODE GND 15 er InMode 16 JOYSTICK 2 oem 7j Twisted and shielded age E z 2 Amplifier 8 a 5 a o Card E LO N o A amp Lu ul a Su E 1 PLANT a TO stude taut A pe Enable 2 Emergency Stoj 1 Right Limit 2 B E Left Limit 1 LC Gnd 4 2 CIRCUIT D Type 9 pin Male D Type 9 pin Female NANOMOTION MOTOR Figure 6 Joystick Connection Nanomotion Ltd 16 2 3 2 3 1 2 4 2 4 1 ABIA Driver Box User Manual Connections and 1 0 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 e ANALOG COMMAND a twisted shielded cable is recommended DISCRETE INPUTS These signals are not sensitive to noise and can be grouped toge
6. Pin Signal Name Function Description 1 48V Input 48VDC 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 prevent the driver operation without the motor 2 Motor Phase High voltage output Used with an external LC Box Connected to the capacitor in the LC Box otherwise not connected 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 Motor in High voltage output Used with an external LC Box connected to the AC switch circuit 9 N C Not in use Optional Nanomotion Ltd 26 ABIA Driver Box User Manual Specifications Table 8 I O Connector Pin Out Pin Signal Name Function Description 1 VIN Input Positive analog command input 2 GND Ground 3 FAULT Output See section 2 6 4 GND Groun
7. card The AB1A 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 For 1 to 16 elements the LC circuit is internal to the AB1A For 32 elements the LC circuit is external to the AB1A LC Box An internal DC 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 Driver Box 48 DC Power Source Command Source DC Amplifier Converter Circuit LC Card Nanomotion Motor Figure 1 AB1A 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 10 ABIA Driver Box User Manual ABIA Description PWM Square wave on the amplifier output db TU H BRIDGE AC output that drives N LC Card the motor Common 9 ke Phase K
8. Connection 2 z 24444444440RHHHn Hanne nHnnnenennnnnnn einn tnn nan anne ann 13 2 2 2 Joystick COMECION are see 16 2 3 Cable Connections manean aeai o ta to cialis 17 2 3 CSBIGldItig Sie oorr e mat epa citate tiep eer oer Lo i td dicum dus 17 24 Motor G nnettions D ei 17 241 Motor Cable Length an ae 17 2 5 Opto isolated IMPUtS caia na 18 2 5 1 Voltage Source Configuration sod e eater to cte oin poene ge tne Red a ba pH pa sed e AM dene 19 2 6 Fault Output anne ER ERU X Y PENES RE VET n 20 2 7 Before Operating the MOtQF torio nen 20 3 ABIA BPERATION 2 en daten eee E 21 3 1 Operation MOdaS nennen Denkens 21 3 1 1 Velocity Mode Operation ernste Mesa 21 3 1 2 Step Mode operation ent 21 3 1 2 1 Enablingithe Step Mode ne a ia tds 21 36123 Gate Mode Operation nio a RER ans AEN 21 3 1 3 1 Enabling the Gate Mode tete ie ette e oti desides 22 3 2 Using the AB1A to Drive LS Motors c cccesesecceceeeeeeeceeeeeeeceneeseeceeeeseseeeeeenseneeeneneneeee 22 4 SPECIFICATIONS yi 2 2 ee ae en 23 4 1 Parameters and Conditions sic Een 23 4 2 ABIA LYON 25 4 3 ABIA Pin Arrangement scien eese code pera coisas sce dena dete hairakeine 26 List of Figures List of Figures Figure 1 AB1A Block Diagram nosice aniisi rerent eiieeii arei ate nne nn nete taies 10 Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card en 11 Figure 3 AB1A Driver Box Front Panel 12 Figure 4
9. NANOMOTION ro September 2003 P N AB1A 458 000 D 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 Nanomotion Ltd 2 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 June 2001 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 r
10. d 5 NC Not used 6 NC Not used 7 NC Not used 8 NC Not used 9 GND Ground 10 LEFT_LIMIT Input Left Limit Switch See section 2 5 11 12V Output Accessory voltage for powering an external device Max 700mW 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 analog command input 15 GND Ground 16 STEP IN Input Gate Step Selection 17 RESET IN Input Master Reset Activated shorted to ground 18 NC Not used 19 NC Not used 20 NC Not used 21 GATE Input Gate mode enabling 22 RIGHT_LIMIT Left Limit Switch See section 2 5 23 12V Output Accessory voltage for powering an external device Max 700mW Return is the GND pin 24 ENABLE IN Input Enable See section 2 5 25 5V Output Accessory voltage for powering an external device Max 7 5W Return is the GND pin 27
11. emaining 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 t
12. he 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 CE Compliance CE Compliance Nanomotion Ltd 4 This product has been tested for Electric Safety and Electromagnetic Compatibility and found to be in compliance with the following directives and standards EMC Council Directive 89 336 EEC Safety Council Directive 73 23 EEC EN 55011 1998 A1 1999 EN 61000 6 2 1999 EN 61010 1 1993 A2 1995 Table of Contents Table of Contents 1 ABIA DESCRIPTION geet Ee 9 1 1 i a een 9 1 2 Main astenia Tm 9 1 3 Operating Principles sess nne nennen nennen 10 2 CONNECTIONS AND I O SETTINGS essen nennen nenne nnns 12 2 1 ABTA Front Panel ee 12 21 1 Eront PANG ee esr ee ctocnag shea eae eens sete e 12 2 1 2 Front Pan l Indicators used st ee uted der shoal aur Aso esed esse Dor det es estende ia 13 2 2 Motion Controller Joystick Connection nn 13 2 2 1 Differential Analog
13. ined by outside TTL signal in an open loop e Step Mode in which the driver output 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 Step Mode operation In this operation mode the motor is turned on and off for fixed time intervals defined in the hardware as follows 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 3 1 2 1 Enabling the Step Mode 3 1 3 Enable the Step operation mode by shorting pin 16 see Table 8 to the ground Gate Mode Operation In this operation mode the motor is driven at low velocity in open loop by turning the driver output ON and OFF in time intervals defined by an external switching signal 21 ABIA Operation Using the ABIA to Drive LS Motors The amplitude of the output corresponds to the analog command 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 optional Minimum pulse width 50 usec e Maxi
14. mum pulse frequency 1 kHz 3 1 3 1 Enabling the Gate Mode 3 2 Enable the Gate mode of operation by shorting pin 21 see Table 8 to the ground Verify that pin 16 is not shorted to the ground at the same time Once pin 21 is shorted the driver is in Gate Mode The external signal should now be conducted through pin 16 See also section 3 1 2 Using the AB1A 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 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 3596 of the full command Nanomotion Ltd 22 ABIA Driver Box User Manual Specifications 4 Specifications 4 1 Parameters and Conditions Table 1 AB1A Power Consumption Power Input 48VDC 5 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 connec
15. s c oe Up UP COMMON DONI i DOWN DIRECTION i CONTROL NANOMOTION MOTOR Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card 11 2 1 2 1 1 ABIA Driver Box User Manual Connections and 1 0 Settings Connections and I O Settings AB1A Front Panel All AB1A connectors and indicators are located on the front panel There are three connectors Control Terminal I O Port and Motor Out and two indicators Figure 3 AB1A Driver Box Front Panel The detailed description of the AB1A connectors and indicators is given sections 2 1 1 and 2 1 2 below Front Panel Connectors Connector Description Control Terminal 5 pin connector that provides input from an external 48VDC power supply 6 5A max Provides direct control of the motor ENABLE signal See also Table 6 Motor Out D type 9 pin connector male Interfaces to the motor See also Table 7 UO Port D type 25 pin connector female Interfaces to the control source joystick or controller See also Table 8 12 ABIA Driver Box User Manual Connections and I O Settings 2 1 2 Front Panel Indicators Condition Alarm 1 Alarm 2 VCC 4 6V Off Off Motor Disconnected Orange Off Motor Disabled Off Orange Motor connected and Green Off enabled Over current Protection Red Red 2 2 Motion Controller Joystick Connection The AB1A Driver can receive the input signals either from a motion controller or from a joystick
16. ted UT lt 500 mA 1x HR2 is connected vt S 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 power consumption without motor 48VDC 125 mAmms according to the following 125mA n current consumption of a single motor e n Number of motors that are connected n 1 2 3 4 Table 3 Physical dimensions Nominal Mechanical 150x110x40 Dimensions WxDxH Weight 450 gr Mounting options Desk top Wall mount 23 Specifications Parameters and Conditions 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 4kHz Input low pass filter Nanomotion Ltd 24 ABIA Driver Box User Manual Specifications 4 2 AB1A Layout n y K OQ C 7 149 T N utc 72 26 ale 26 Y Ig 2 SLOTS FOR MOUNTING E i M4 DIN 7985 Dimensions in mm General tolerance 0 4 Figure 9 AB1A Layout 25 Specifications ABIA Pin Arrangement 4 3 AB1A Pin Arrangement Table 6 Control Terminal Pin Out
17. ther in the same harness with any of the other groups Shielding Since the high motor voltage is induced on the cable shield it is required to ground connection the shield on both sides Both the driver and the motor should be grounded to the infrastructure earth Motor Connections The Motor Connected signal is available only at the motor 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 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 Motor Cable Length The overall length of the cables that connect the AB1A Driver Box to the motor elements should be in accordance with the following Up to 2 motor elements 5m 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 Eo sum of which not exceeding the allowed total cable length A Nanomotion can guarantee proper driver and motor performance NOTE only if Nanomotion standard cables are used 17 Connections and I O Settings Opto isolated Inputs 2 5 Opto isolated Inputs The following inputs are opto isolated and are activated by shorting them to ground see also Table 8
18. tput 2 6 Fault Output Fault An open collector logic output that is active shorted to ground under the following conditions e The motor is not connected and the Motor Connected signal is floating e Emergency Stop 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 Motor connected to the AB1A verify the following Card configuration as specified on box matches the motor to be operated Jumper JP1 is set to the required mode of operation All connectors are secured with screws The external power supply is capable of supplying the required power consumption of the AB1A There is no command when switching the power to ON Make sure that all motors that are to be driven by the AB1A are correctly mounted avd preloaded 1 The command should be limited according to the envelope of performance of the motor Refer to the Motor User Manual ATTENTION 2 Driver should be grounded to infrastructure earth before operating Nanomotion Ltd 20 3 1 SI 3 1 2 ABIA Driver Box User Manual ABIA Operation AB1A Operation Operation Modes The AB1A can be operated in one of the following operation modes 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 def
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