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AB5 and AB51 Drivers User Manual

1. 27 5 1 DS SHS 110 g ERN ETT 27 5 2 Thermal Envelope of Performance EOP rrrnnrrnnnrnnnnennnnnnnnrnnnnrnnnennnnnnnnennnnennnenn 28 del Beier ene 28 NanomotionLtd ge Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Table of Contents 5 2 2 Stage Heat Dissipation Consideration rrrnnrrrnnnrnnnnnrnnnnnennvrennnnennnnrennnr 29 5 2 38 EOP for HR Motors Driven by AB5 AB51 Drivers 29 39 re CEC Mal green MEER 33 ISo WSSCHOUOM E e s 33 PEN Ne 34 5 3 3 Benefits of Thermal Protection rrrrrrnrrnnnrrnnnrrnnrrnnnrennrrnnvrennrennnrennerennee 35 5 3 4 The TP Feature Implementation rrrnnrnnnrnnnrnnnrnnnrnnrnnnrrnnernnennnennnennnen 36 94949 POW VE iovis RU Fari aiia 38 5 4 Front Panel Connectors and Indicators cccceeccccseeeeeceeeeeceeeeeceeeeeeseeeessaeeeesaes 40 54 1 Front Panel DescrpllOLDIssseses rao ua Ia E a PCR RUE MX FU E RE RR 40 42 ED NONE 40 5 4 3 Control Terminal Block Pinout rrrnrnnnrnnnnnnvnrnnnrnnrnnnnnnnnnrnrnnnrnnnnnnrnnnnnne 41 5 4 4 Motor Output Port Pinout esses nennen nnns 41 545 VO Pol Connector TIFIOUL sssserierie i 42 480 penne eee eee ee EE 43 5 5 1 Op to isolated Inputs cccceecccseecceeeceeeecececeeeceueeseueeeeeseueesseesseeseeeens 43 5 5 2 Voltage Source Configuration
2. Nanomotion Ltd 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 Connecting the AB5 AB51 Driver For connecting the driver to the system refer to Figure 3 Differential Analog Input Connection or Figure 4 Single ended non differential Analog Input Connection 2 1 Quick Instructions for Connecting the Driver For connections refer to Figure 2 below e s AB5 DRIVER BOX ENABLE MOTOR Figure 2 AB5 Driver Front Panel 1 Connect motor s cable for details refer to section 2 1 3 to driver s Motor connector refer to Table 1 2 Connect the 25 pins flat cable to driver s I O port connector for details refer to section 2 1 1 for analog or Joystick connection for details refer to section 2 1 2 3 Connect the power supply wires to driver s Terminal block for details refer to section 2 1 1 4 Plug in the terminal cable to the driver s mating connector 5 Read the instructions in section 2 2 before operating the motor 6 Turn the power on and continue to Chapter 3 for Driver Operation Nanomotion Ltd 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 4 Wires and Connectors e Power supply use 22 AWG or lower AWG wires for the power supply For noisy su
3. cccccccccsseccceeeeseeeeeceeeeeeeeesseeesaeeeesanees 44 S SEC FO Nr 45 50 PP PIN Ne 46 6 PART NUMBERING METHODOLOGY essnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnnnnnn 47 7 CONTACT INFORMATION pusen sed 48 7 1 Customer SLC gt EEE EEE 48 7 2 General Inquiries and Ordering esses 48 Nanomotion Ltd gh Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Lists of Figures and Tables List of Figures uie Te PDO DEDO Gc TR EE E 12 Figure 2 AB5 Driver Front Panel ccccscccscccecececceeeceeeceueceusceueceeeceeeseeeseeeseeeteeeneeeneeenes 15 Figure 3 Differential Analog Input Connection cccceecceeeceeeceeeeseeesaeeeseeeeseesaeseaeeesaees 17 Figure 4 Single ended non differential Analog Input Connection 18 Figure 3 SOV SHC COMMS CUO I acerca eect mU RUP DIEI Bur NNI UIDEMUS 19 Figure 6 Velocity vs Command Using the AB5 AB51 Driver rrnrrnranrnrnnnnenranennnnennnnrennnnen 30 Figure 7 Force vs Velocity Using the AB5 AB51 Driver at the Various Work Regimes Cl m 31 Figure 8 TP Mechanism Block Diagram ranannnrnnnrnnnrnnnrnnnnnnnrnnnnnnnennnnnnnnnnnennnenarnnnnnnnnnnnenne 36 Figure 9 DIP Switch Location inside the ABS AB51 Driver Box seesesesesssuus
4. 5 4 5 O Port Connector Pinout Description EJ See seton 99A MEM p NM Direction Disabled Disabled Acs Int Mode EF Disabled Set Com 1 Disabled 10V c 10V supply for external device Joystick Emergency Stop Input Safety shut down see section 5 5 1 User Voltage Input External power supply for the opto isolated type inputs ES AE V In eM 0 to 10Vdc Analog control k fs Step Mode Step mode selection SPI Clock Disabled EIS Offset Read command and remember as Offset EN mas In EN When shorted to ground the Enable input is active high Otherwise Enable is active low NC Neued 10V EM 1 Loc o NN supply for external device Joystick Enable Input Must be activated to enable driver operation ape Table 8 I O Port Connector Pinout Nanomotion Ltd 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 5 Os 5 5 1 Opto isolated Inputs The following inputs are opto isolated and are active low i e by shorting them to ground see Table 8 for more details e Emergency Stop disables driver s output e Enable Sign In changes Enable input logic to active high e Enable enables driver operation should be activated before operating the motor e Step Mode enables Step mode operation e Brake On disables driver s output e Set Offset adjust O zero command
5. 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual CE Compliance Revision History ECO Revision Release Details date New release Document update Added T P feature Document update 02 A Feb 2011 Updated EOP tables graphs examples T P schemes T P content NA Aug 2012 Administrative change added patent information section in front matter 0863 02 B April 2015 Added max motor output voltage to environmental list on page 27 Nanomotion Ltd 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual 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 e EN 61800 3 1996 A11 2000 for second environment e EN 61000 3 2 2000 EN 61000 3 3 1995 A1 2001 e FCC 47 CFR 2002 part 15 subpart B e EN 61010 1 2001 Nanomotion Ltd 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Revision History This page is left blank intentionally Nanomotion Ltd 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and A
6. AB5 and AB51 Drivers User Manual Technical Data 25 AIF HR E88RN 000010 ga LEN T ai EOP on off aS VAC ST AE NH 1 2 3 4 amp a amp 3 a E Nanomotion Ltd 37 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 3 5 How It Works The TP feature is designed with the following motor calculated temperature settings e Motor temperature below 85 C normal operation e Motor temperature between 85 C to 100 C warning mode Displayed by a blinking TP LED and an on off Fault output signal pin 3 in the 25 pin I O port connector e Motor temperature above 100 C the motor is disabled The TP LED is constantly on and so is the Fault output pin 3 The driver remains disabled until motor temperature drops to 85 C natural cooling e Motor temperature back under 85 C once the driver computed the motor has cooled to just under 85 C the TP LED will blink once and remain on and so will the Fault output signal To resume operation the driver will now need to be disabled and then Enabled again Normal Warning Shut down operation zone zone Motor Enabled Enabled Disabled Nanomotion Ltd 38 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data IMPORTANT
7. A rtisan Artisan Technology Group is your source for quality PES new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment A EQUIPMENT DEMOS HUNDREDS OF Instra fea REMOTE INSPECTION LOOKING FOR MORE INFORMATION run Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED ee Mus Contact us 888 88 SOURCE sales artisantg com www artisantg com NANOMOTION A Johnson Electric Company AB5 and AB51 Drivers User Manual Af NANOMOTION 15 ABS DRIVER BOX a Qs D N AB05458200 02 rev B April 2015 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Copyright Copyright This document contains proprietary information
8. The AB51 is designed to have a minimal controlled Dead Zone which is beneficial in Z applications or in repetitive Start Stop mode of operation The AB51 feeds less driving power into the motor at low commands thus facilitating the controlled Dead Zone mentioned above while maintaining the motor at a lower operating temperature The AB51 driver should be chosen in general applications unless a perfect servo tracking or very low ripple constant velocity is needed where AB5 is preferable 1 2 Main Features e High precision 11 bits control of the output power stage e Zero Dead Band in AB5 and minimal Dead Band in AB51 e Drives up to four HR8 motors e Four operation modes Velocity Step and Brake On Off e Interface to an analog command e Modular design to allow replacement of configuration specific Personality cards e Discrete inputs enabling feedback from external sources such as limit switches Emergency Stop command etc e Three color LED indicators e Over Current Over Voltage and motor interlock protections e Minimized sensitivity to cable length e User defined Enable input logic e Thermal Protection mechanism Nanomotion Ltd 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Introduction 1 3 AB5 Operating Principle The force transfer of the Nanomotion motor is based on friction of the motor s elements and
9. O Nanomotion Ltd List of Abbreviations 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Introduction 1 Introduction This manual is designed to help the reader to operate the ABS AB51 driver 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 General The AB5 is a single axis amplifier box for driving Nanomotion Piezo Ceramic motors The AB5 amplifier box interfaces between the input command from a controller or joystick to the motor and drives the Piezo motor It facilitates a linear response of the motor and eliminates the dead zone previously associated with Piezo Ceramic motor operation The AB5 amplifier box consists of three main cards The Logic and Driver cards are common to all AB5 configurations while the Personality card is configuration specific and can be replaced by an authorized technician to drive a different motor in the HR family NANOMOTION Lid RT gt ENABLE ABS DRIVER BOX MOTOR Figure 7 AB5 Driver Box Nanomotion Ltd 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Introduction An additional related model is the AB51 driver built identically to the AB5 but carrying a different firmware
10. Once the motor is disabled and the Fault is turned on leave the power on and wait for the driver to Enable DO NOT POWER OFF THE DRIVER AND TURN IT BACK ON AGAIN BEFORE LETTING THE MOTOR COOL DOWN Turning off the driver when the motor is hot and then immediately turning it on again will misalign the mechanisms thermal calculations as the accumulated temperature calculation was reset and the TP assumes the motor starts from the thermal equilibrium at the ambient temperature Therefore after the TP feature has turned the system off it is not recommended to activate the system again until the motor is once again at the ambient temperature Motor Calculated Temperature C Shut Warning Down Zone Zone Fault Signal is on p and off at 2Hz The user can enable the driver after the Fault Signal turns off once for 0 25 sec Normal Operation Zone and then is constantly on Nanomotion Ltd 39 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 4 Front Panel Connectors and Indicators 5 4 1 Front Panel Description The AB5 AB51 front panel refer to Figure 14 for driver s layout has the following connectors and indicators e Terminal block e Motor output port e O port connector e Power Enable TP LED indicators e Ground screw 5 4 2 LED Indicators Condition LED Indicator TP 24V power supply
11. is able to open the driver box and change the temperature and environmental configurations or to disable the TP feature completely using the DIP Switch Position Map The DIP Switch Position Map appears in section 5 3 4 The Thermal Protection feature has been implemented as a standard feature in every AB5 and AB51 drivers since March 30 2007 5 3 3 Benefits of Thermal Protection The optional TP feature can be beneficial to the application preventing the motor from overheating A few examples are e A good precaution in first time integration and assembly of a system e Demanding applications that operate in high duty cycle e Joystick operation in open loop A IMPORTANT To benefit from the Thermal Protection feature the motor must be properly mounted preloaded and conditioned Nanomotion Ltd 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 3 4 The TP Feature Implementation Fault output Enable AB5 AB51 Driver TP Card LEOP 4 EOP DIP Switch Air 4 4Vacuum config l p Nanomotion Driver Core Fm A MI H z z E o Pu re c ES j Ww er PEF f TTL EM 2 7 Figure 9 DIP Switch Location inside the AB5 AB51 Driver Box Nanomotion Ltd 36 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
12. not Off Off Off connected 24V power supply is Green Off Off connected Motor Connected and Green Orange Off Disabled is Over voltage fault Green Warning zone temperature Blink Red Sus embers Green Orange Red Table 5 Front Panel LED Indicators Nanomotion Ltd 40 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 4 3 Control Terminal Block Pinout Signal Name Function Description Analog command from controller Table 6 Control Terminal Block Pinout 5 4 4 Motor Output Port Pinout GND Power supply Safety input shorted to pin 6 ground in order to verify the motor connection and to prevent driver operation without the motor 0 0 NEN EERNNNNN Motor Up High voltage output Connected to the white motor terminal Motor_Common High voltage output Connected to the black motor terminal Motor_Down High voltage output Connected to the red motor terminal 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 Shorted to the shield ground LOW me 1 ape L NEM NENNEN Table 7 Motor Output Port Pinout Nanomotion Ltd 41 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data
13. the drive strip This drive mechanism has many advantages like high precision zero backlash inherent brake and more Nevertheless it poses a control challenge at low command due to non linearity an effect known in Nanomotion User Manuals as the Dead Zone The AB5 driver is designed to eliminate the Dead Zone and to facilitate a linear response from 0 zero command level This design allows easily controlling the driver by off the shelf servo controllers The linear response is achieved by the dual excitation of the up down direction of the motor The difference between the excitations determines the direction and velocity of the motion When the up and down directions are activated with equal excitation the stage does not move and the effect is of reduced friction By gradually increasing the difference between the up and down excitations the motor begins driving the stage smoothly and continuously Increasing the difference will increase the velocity Thus a linear response is achieved with no apparent Dead Zone The linear feature is achieved by an effective higher excitation of the motor causing a higher operating temperature The higher temperature is permitted as long as the user adheres to the stiffness requirements and the EOP outlined in section 5 2 in this manual iwi To prevent minor electric shock hazard the ground screw located on the bottom left of the front panel must be connected to the infrastructure earth
14. 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data Duty Cycle Duty Cycle Continues Duty Cycle Continues Brake_ Off Brake_On Operation Brake_On Operation sec sec Table 4 EOP Table for HR Motors Driven by the AB51 Driver Reduced LUT e Note n nthe Brake Off Mode the full advantage of the AB5 driver is enabled giving a linear response best tracking and low velocity performance Using this mode the motor operates continuously even at 0 command and special attention must be given to maintain the work regime within the permitted Duty Cycle and Maximal Continuous Operation Time refer to Table 3 and Table 4 Once the operation time has reached the Maximal Continuous Operation Time even at Brake Off Mode without motion the driver must be disabled to allow the motor to cool down for at least 400 seconds in air and 700 sec in vacuum environment Nanomotion Ltd 32 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 9 2 3 1 9 2 3 2 An Example for Defining the EOP for AB5 Driver in Vacuum Environment Brake On Mode A vacuum application requires 8N at a velocity of 80mm sec and the motor is disabled when stand still Brake On Mode The graph see Figure 7 shows that this point of operatio
15. B51 Drivers User Manual Table of Contents Table of Contents INIRODUCTION 12 1 1 OTIC gt EEE 12 142 LE VG ERA 13 LT BENNETT 14 2 CONNECTING THE AB5 AB51 DRIVER nnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 15 2 1 Quick Instructions for Connecting the Driver cccccccccccseeeceeteeeeeessaeeeeesaeeeeees 15 2 141 Wires and GOMMECIONS sirsie EEEE 16 2 1 2 Motion Control Interfaces cccccsssccccseeeeceeeeeeceeseeeeeeeeeseneeesseeeessaaeees 16 21 3 NENNE Nede 20 2 2 Before Operating the MOtOl ccccccccccccsecccsseeececeseeeeeeeeesseeeeseueesseeeesneesaneeesaees 21 3 AB5 AB51 OPERATING nnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 22 3 1 PETN 2 een ee eee E eee eee 22 3 1 1 Velocity Mode Operation ccccccccccsececseeeeceeeeseeeeseeeeseeeesseeesseeeseaees 22 9 1 2 SEN Mode ODOLdallOlisucieetecudacet uem E suture eise datei sedie duca nas 22 C EC BEE aieo 23 3 2 Set Offset Procedure RUNE 23 SS M MEER eiecit 23 9 2 2 SOWING Ne OSE Lua AA ANA EE AGUIA AA tati tutelae osa 24 4 MOTOR CONDITIONING USING THE AB5 AB51 DRIVER c sess 25 4 1 OU O 25 4 2 The Conditioning Procedure ccccceccccsseeeeeeeeceeeceeeeseeeeceeeeeseeessaeeeseusesseeeesees 25 5 TECHNICAL DATA c
16. Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality PES new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment A EQUIPMENT DEMOS HUNDREDS OF Instra fea REMOTE INSPECTION LOOKING FOR MORE INFORMATION run Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED ee Mus Contact us 888 88 SOURCE sales artisantg com www artisantg com
17. anomotion Ltd 46 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Part Numbering Methodology 6 Part Numbering Methodology The part numbers for the AB5 AB51 drivers with Thermal Protection follow this methodology Motor Type of Elements Environment Notes n Motor type includes DuraMotor series n XX represents number of motor elements ranging from 1 to 32 n V Vacuum environment A Ambient air environment Nanomotion Ltd 47 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Contact Information 7 Contact Information 7 1 Customer Service Contact your local distributor or email Nanomotion Ltd Technical Support Department at techsupport nanomotion com with detailed problem description additions corrections or suggestions 7 2 General Inquiries and Ordering e Outside the USA Nanomotion Ltd Headquarters Nanomotion Ltd PO Box 223 Yokneam Israel 20692 Tel 972 73 2498065 Fax 972 73 2498099 Web site www nanomotion com Email nano nanomotion com e Inthe USA 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 48 Artisan
18. e speed of the motor To enable the Step Mode short pin 16 of the I O port connector to ground refer to Table 8 Nanomotion Ltd 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual AB5 AB51 Operating 3 1 3 Brake On Mode In Break_On Mode the driver disconnects the power supply from the motor however the servo Is still active In this mode the motor is turned off it consumes no power To enable the Brake_On Mode Set pin 17 of the I O port connector to low level short to ground refer to Table 8 When in Break_On Mode the motor is disabled To run the motor set the Brake Off Mode by setting pin 17 to high level disconnect 2 Note n The combination of Brake On Mode while the driver is Enabled poses a conflict on the servo and a transient could occur upon returning to the Brake Off Mode 3 2 Set Offset Procedure 3 2 1 Description When working with AB5 driver in Brake Off Mode see section 3 1 3 and the motor is enabled the Offset procedure prevents motor s drifting due to system s asymmetry It generates an internal offset command at a 0 command from the controller The Set Offset procedure is executed to calibrate the O command in the following cases e Foranew motor system before first time operation e For motor which was dismounted from the system and mounted again Nanomotion Ltd 23 Artisan Tech
19. io of the operation time and the total work cycle operation time idle time n When operating the motor with the AB5 AB51 driver continuously in Brake Off Mode refer to section 5 2 3 EOP for HR Motors Driven by AB5 AB51 Driver the motor consumes power at all times even when the control command voltage is O zero thus the time at 0 command is accounted in the heating process and reduces the thermal EOP n Upon operating a motion system in vacuum it is expected that the Coefficient of Friction of the bearing structure will increase This may require changing the system operation point on the thermal EOP curves 5 2 2 Stage Heat Dissipation Consideration The motor heat dissipation mechanism is by convection and radiation to the motor case and by conduction through motor s finger tips Hence the motor and the Ceramic Driving Strip bases must both be thermally designed to dissipate 2W each per motor s finger tip with maximum temperature rise of 15 C 5 2 3 EOP for HR Motors Driven by AB5 AB51 Drivers The AB5 AB51 drivers are preferable for a perfect servo tracking and or very low ripple constant velocity Refer to the AB5 and AB51 Drivers User Manual D N AB05458200 The AB5 unique features result in the motor consuming more power and in a lower EOP compared to the EOP for a motor operating with the AB1A driver The AB51 driver is a modified version of the AB5 driver which gives a higher EOP compa
20. level Jumper 3 User Voltage To Control Logic Command Input AB5 AB51 Figure 12 Opto Isolated Input Interface Nanomotion Ltd 43 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 5 2 Voltage Source Configuration Avro Only a qualified service technician is authorized to change jumpers configuration Do not short other pins on JP2 Doing so shorts the external power supply to 3 3V The input circuit is limited to sink up to 10 mA but not less than 3 mA The opto isolated input signals See section 5 5 are activated as short to ground The voltage for the opto isolated circuit see Figure 12 is provided by either internal 3 3V supply default state or an external voltage supply via pin 13 of the I O port connector The input to be activated should be shorted to the external voltage supply ground Configure jumper JP2 on the top AB5 AB51 card according to the voltage source e Pin 1 shorted to Pin 2 for an internal 3 3V source default factory setting e Pin 3 shorted to Pin 4 for an external voltage source from 3 3V to 5V 3 1 I wal 42 42 Connection for Connection for Internal Source External Source Figure 13 Jumper 2 Configuration Nanomotion Ltd 44 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 D
21. ll HR and ST series motors e 16 hours for all DuraMotor series motors e 18to 20 hours for applications which use Ceramic Coated Strips CCS 7 Wipe the Ceramic driving Strip surface with IPA analytically pure grade isopropyl alcohol without retracting the motor s fingers approximately one hour into the conditioning process 8 Atthe end of the conditioning procedure wipe the drive strip with IPA without retracting the motor s fingers 9 Run the motor for 10 min as IPA may leave some residual hydro carbons on the surface that affects performance 10 The motor is now ready for operation Nanomotion Ltd 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 Technical Data 5 1 Specifications Electrical Specifications Power Input 24 VDC 5 stabilized Power Consumption w o Load 2 4W Power out under load 2 5Vrms maximum Number of elements No load 100ma Current consumption based on E1 to E4 1A Load ES FA E1 one element E32 32 elements E16 4A E32 8A Physical Properties Weight 450g Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Analog Input Specifications Input voltage range 10V Input impedance 10kQ Input low pass filter 2 7 kHz Table 2 AB5 AB51 Driver Specifications Nanomotion Ltd 27 Artisan Technology Group Quality Instrumentation Guara
22. motion guarantees proper driver and motor performance only when Nanomotion standard cables are used e The Motor Connected interlock is available on motor connector see Table 7 It disables high voltage on the bare driver output connector when the motor is not connected e f more than one motor is connected to the AB5 AB51 use a suitable branch cable Branching is possible for two and four identical motors Versions are available for motors operating either side by side or head to head e he allowed maximum total motor cable length connecting the AB5 AB51 driver to the motor s is up to 10 meters for the HR or ST motor types and up to 20 meters for the vacuum motors Branch cables must be of an identical length Their total length should not exceed the allowed total cable length Nanomotion Ltd 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 2 Before Operating the Motor Before operating the AB5 AB51 verify the following e All motors are properly mounted and preloaded e Jumper JP2 is set to the required mode of operation accessible only by an authorized service technician see section 5 5 2 for more details e Mechanical screws lock all connectors e The external power supply is capable of supplying the required power consumption of the AB5 AB51 see Table 7 e There is no command when tur
23. n 33 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data feature according to the EOP see section 5 2 where accuracy is conditioned by the ambient temperature s input Based on an internal microcontroller the TP option is an EOP computing algorithm that calculates the temperature of the motor by time integrating the command corresponding to the input power and calculating the heating cooling profile of the motor This feed forward algorithm is accurate subject to the ambient temperature input the proper installation of the motor and ONLY AFTER motor s conditioning refer to chapter 4 5 3 2 TP Configurations Nanomotion Ltd The TP option is available in the following configurations e HRor ST motors e 25 C or 50 C ambient temperature e 25 C vacuum environment The AB5 AB51 driver is factory preset to either HR or ST motors a permanent DIP Switch 2 configuration according to the motor type to be driven In addition each ABS AB51 driver Nanomotion delivers is preset to a standard 25 C ambient air environment with the TP feature turned on 34 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data To provide application flexibility for the end user s technical requirements an authorized service technician
24. n corresponds to the curve e see Table 3 Table 3 for AB5 in Brake On Mode shows that curve e and a vacuum environment require that a duty cycle of 13 will not be exceeded and the maximum continuous operation time is limited to 90 seconds Alternatively AB51 can be used giving duty cycle and continuous operation of 23 and 100 sec respectively The same conditions under Air at 25 C will result in 100 Duty Cycle and unlimited continuous operation An Example for Defining the EOP for AB5 Driver in Vacuum Environment Brake Off Mode When Brake Off Mode is used under vacuum conditions the motor will overheat at any duty cycle if operated for a prolong time To calculate the max operation time use curve 0 a see Table 3 for time at 0 command and the operation curve for the operating time according to the following formula Tmax Max continues operation at the operation regime DC max continuous operation under regime a 1 DC If operating under curve c see Table 3 using AB5 in a duty cycle of 1096 the total operation time is Tmax 150 0 1 230 1 0 9 222 sec Once Tmax is reached the driver should be disabled for a period of 700 sec 5 3 TP Thermal Protection 9 9 1 Nanomotion Ltd Description Thermal Protections is a motor protection mechanism within the AB5 and the AB51 drivers designed to minimize damage to the motor due to overheating It is a unique feed forward temperature protectio
25. ning the power on iwi The driver must be grounded to infrastructure earth before operating Q caution The command should be limited according to the motor EOP see section 5 2 Nanomotion Ltd 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual AB5 AB51 Operating 3 AB5 AB51 Operating 3 1 Operation Modes Both Enable and Motor_Connected inputs must be active for operation regardless of the operation mode The AB5 AB51 can be operated in one of the three operation modes listed below e Velocity AC Mode the motor is driven continuously e Step Mode the driver output is Hardware turned off and on in predefined intervals of 1 16 sec every 1 2 sec thus driving the motor in discrete steps e Brake On Mode while in Velocity Mode turns on the holding force 3 1 1 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 mode is driver s default operation mode 3 1 2 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 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 th
26. nology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual AB5 AB51 Operating 3 2 2 Setting the Offset Disable and then Enable the driver before starting the adjustment Apply the 0 commana and observe if the slide moves Adjust the command voltage level until the slide movement stops While still applying the command level short pin 19 of the I O port connector to ground momentarily refer to Table 8 The driver remembers this level of command as its 0 max 2 5V o Apply O command level and verify that the slide is motionless D YN c Nanomotion Ltd 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Motor Conditioning Using the AB5 AB51 Driver 4 Motor Conditioning Using the AB5 AB51 Driver 4 1 Introduction Conditioning of any Nanomotion motor before functional operation is an important action It stabilizes dynamic performance reduces wear rate and increases the lifetime of the system The AB5 AB51 driver is unique in its mode of operation comparing to other Nanomotion drivers It allows a full linear response starting with very low commands In order to do so the AB5 AB51 when enabled energizes the motor even at 0 zero command Consequently the AB5 AB51 may cause the motor to overheat especially during the initial phase of conditioning This cha
27. nteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 2 Thermal Envelope of Performance EOP 9 2 1 Description Motor operating temperature is a result of the balance between heat generation and heat dissipation e The heat generation depends on motor s work regime driver command level e The heat is dissipated through the following heat transfer mechanisms conduction radiation and convection the convection mechanism is negligible in vacuum environment 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 set ambient temperature and command deriving the duty cycle and maximal continuous operation that assures safe operation The user can either operate the motor for an extended period of time at a specific duty cycle or alternatively can operate the motor for a continuous time period specified under Maximal Continuous Operation Time see graphs and tables in section 5 2 3 After the continuous operation is completed the driver must be disabled to cool down the motor for 400 sec in air and for 700 sec in vacuum environment Nanomotion Ltd 28 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data Notes o The duty cycle is the rat
28. o 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 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 o
29. 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 company names are trademarks or registered trademarks of their respective holders Nanomotion Ltd 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Limited Warranty 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 t
30. on There are two options of an analog connection of a motion controller to the AB5 AB51 driver e Differential connection see Figure 3 e Single Ended Non differential Connection see Figure 4 The differential connection enhances noise immunity AB5 AB51 DC power supply Twisted and shielded cable 24 Enable 2 Gnd Figure 3 Differential Analog Input Connection Nanomotion Ltd 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver AB5 AB51 DC power supply bt Twisted and shielded cable 7 TE Vout or Gnd he EE Shield 2 Gnd hr Vout Figure 4 Single ended non differential Analog Input Connection Nanomotion Ltd 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 2 2 Joystick Connection Using the joystick for supplying the command voltage to the AB5 AB51 driver allows the user to manually drive the motor without using a motion controller AB5 AB51 Figure 5 Joystick Connection Nanomotion Ltd 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 3 Motor Cable Connections Nano
31. peration 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 1186063 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 200780019448 6 7713361 9 pending 12 294 926 pending GB20080000041 78 Nanomotion Ltd 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual CE Compliance 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 Nanomotion Ltd 4 Artisan Technology Group Quality Instrumentation Guaranteed
32. pter instructs the user on how to safely condition Nanomotion motors when using the AB5 AB51 driver 4 2 The Conditioning Procedure A IMPORTANT The conditioning of all Nanomotion motors must be performed after initial assembly and before motor tuning In addition the conditioning should be performed any time a motor has been dismounted and remounted or its pre load released Nanomotion Ltd 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Motor Conditioning Using the AB5 AB51 Driver Q caution Limit the command to 5V and use the Abort on Position Error option of the controller in order to protect the motor during initial integration and conditioning Do not perform the conditioning procedure in vacuum environment This procedure must be performed in ambient air conditions only To perform the conditioning procedure follow the steps below 1 Set the conditioning procedure to cover the whole expected operated travel of the Ceramic Driving Strip Run the stage repetitively from end to end in closed loop Profile Velocity 100 mm sec acceleration Deceleration 0 1 to 1m s The AB5 AB51 should be disabled during the dwell time Duty cycle 25 This means that the dwell time AB5 AB51 disabled should be three times longer than the move time AB5 AB51 enabled a e amp I 6 Conditioning duration e 8 hours for a
33. red to the AB5 driver with some adverse effect on control performance in respect to tracking error and low velocity ripple Nanomotion Ltd 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data Figure 6 illustrates motor velocity as a function of the applied AB5 AB51 driver command voltage Allowing up to 30 mm sec variations use it as a reference and as a guideline for expected motor performance 300 250 200 8 4 150 amp 100 E 8 90 OD gt 0 0 1 2 3 4 5 6 8 9 10 Command V Figure 6 Velocity vs Command Using the AB5 AB51 Driver Figure 7 and Table 3 are designed to help the user determining the correct envelope of performance and avoid overheating and damaging the motor Nanomotion Ltd 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data HR1 HR2 HR4 HR8 4 8 16 32 3 6 1224 D 4 O S ng 1 2 0 0 O 0 50 100 150 200 250 300 Velocity mm sec Figure 7 Force vs Velocity Using the AB5 AB51 Driver at the Various Work Regimes a h Curve Duty Cycle Duty Cycle Continues Duty Cycle Continues Brake_ Off Brake_On Operation Brake_On Operation sec sec Table 3 EOP Table for HR Motors Driven by AB5 Standard LUT Nanomotion Ltd
34. rivers User Manual Technical Data 5 5 3 Fault Output The Fault output indicates either driver s over voltage or TP violation When active low it disables the driver due to this fault The fault output provides an open collector interface and needs to be pulled up by the user The maximum allowed current through the open collector transistor is 50mA The appropriate pull up resistors should be used to avoid overloading this output Nanomotion Ltd 45 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Technical Data 5 6 AB5 AB51 Layout 185 41 20 ay 4 A Sr AP SP ar 4 ar te Se ote Ae ote dP oe ae ae ae oe a Sear Ge Sr ae Ar tr AR ae ae ae Se ae AP XX ae 4 oP ux eS TSC SCS SESS SCS SS Se SS ir ir ir ir Sr Se te a ae ae Se Se Se Se te Se Se ae Se Se Ar ae Sr ut SF Se Se de ae ae AP WR SP tr ae te SP Se X SP Se v ee o ir ar ow A TX wd v AR AE ae Sr A Ar ir Xe o Se Se SP AA ir SP A B X ay ie SF SF AP XR ar ie ar Ae Se te Se te ae SP ar Se oP a AS ov TPS SCPC SOS SS SS SS St SF oar Se e te oP ae oP ar ae ae AP Se Se ae i oP te SP te oe ae ae te Se te o te Se Oe Se te te Se ae Se ae Ot Se ae ae ir ir Se Se te XR XR ae te dr Se ar te Se ee Ora Fare ra e raa vir ab ver r SPP 7 uaY 5 NNN SLOTS FOR MOUNTING USE CIN 7984 M4 T R EWS ax M3 THREADS FOR MOUNTING Note gm All Dimensions are in mm N
35. rroundings 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 Control 5 pin connector Receives 24V from an external source terminal and provides 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 See Table 6 for connector pinout I O Port 25 pins D type female connector Interfaces to the control Connector source joystick or controller See Table 8 for connector pinout Motor 9 pins D type male connector Interfaces to the motor Output Port See Table 7 for connector pinout Table 1 Front Panel Connectors 2 1 2 Motion Control Interfaces The AB5 AB51 driver can receive the input signals either from a motion controller or from a joystick The schematic diagrams of the motion controller and joystick connections to the AB5 AB51 driver are provided in following sections e Note n The motor may be operated from the Terminal block using the following signals 24V GND Vin Vin Enable Nanomotion Ltd 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 2 1 Analog Controller Connecti
36. ss 36 Figure 10 DIP Switch Position Map sseessesseeeneennnnnn nnnm 37 Figure 11 Thermal Protection Sequence c cccccceececeeeeceeeeeseeeeseeeeseeeeeseeeesaueeseeessaeeesaes 39 Figure 12 Opto Isolated Input Interface cccccecccseecceecceeeceececeueeceeeceuceseuesauessaeessusensess 43 Figure 13 Ju mibper 2 COMING Ul UOI EE m Dia epa B UEM ESODEI NI TENNIS een 44 Figure 14 Layout and Mechanical Dimensions cccccseeeseeeeeeeeeeeeeeeeeeeeeeeaeeeeeseeeneeenes 46 List of Tables Table 1 Front Panel Connectors cccccccccsseecceeeeeceeececseseecseueeeseeeessaueessageeesauseessaneeessags 16 Table 2 AB5 AB51 Driver Specifications cccccceccsececeeeeeeeeceeeeseeeteeeseeeeaueeseeeseneeseetans 27 Table 3 EOP Table for HR Motors Driven by AB5 Standard LUT 31 Table 4 EOP Table for HR Motors Driven by the AB51 Driver Reduced LUT 32 Table 5 lt Front Panel LED InalealOES ossia o pal bana bt via isane E E E ipu S pE EEEE 40 Table 6 Control Terminal Block PINOULt cccecseeeeceeseeceeeeeeeeeessaueeeseaeeesaueeesseneeeseass 41 Table 7 Motor Output PP vred 41 Table 8 DO Por Connector PINOUT rekene TETEE 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AB5 and AB51 Drivers User Manual List of Abbreviations a mme m mito O CORTO CORDA

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