AB1A Driver Box User Manual
Contents
1. N ajj o E Oy a Zil Bob Limit Ss Left Limit 10 LC GND 4 CIRCUIT D Type 9 pin Male D Type 9 pin Female gt S a Q O ES a Z gt UP D o M D NANOMOTION Motor Figure 5 Non Differential single ended Analog Input Connection Nanomotion Ltd Page 14 of 29 Connections and 1 0 Settings 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 DC POWER SUPPLY gt o Y 4 1 mb o ENABLE Vin GO Vin N GND 4 2x LEDS BLOCK TERMINAL MALE ae ee JOYSTICK ait tea Twisted and shielded Amplifier Card POTENSIOMETE a Kr CN DI a gt E D D TYPE 25 PIN D Type 9 pin Female a 3 o Sch GND DIS GND NANOMOTION MOTOR Figure 6 Joystick Connection Nanomotion Ltd Page 15 of 29 Connections and I O Settings 2 3 Cable Connections Connect the following groups of cables together isolating each of the signals H 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 gr2. bases must both be thermally designed to dissipate 2W each per motor s finger tip with maximum temperature rise of 15 C Nanomotion Ltd Page 20 of 29 Thermal Envelope of Performance EOP 3 3 Thermal EOP for HR Motor Driven by AB1A AB2 AB4 Drivers Figure 9 illustrates motor velocity as a function of the applied driver command voltage Allowing up to 30 mm sec variations use it as a reference and as a guideline for expected motor performance 300 250 200 150 100 50 Velocity mm sec Oo 1 2 3 4 5 6 7 8 9 10 Command V Figure 9 Motor Velocity vs Command Figure 10 and Table 1 are designed to help the user determining the correct envelope of performance and avoid overheating and damaging the motor 1 The motor operates horizontally at room temperature and low duty cycle lt 10 It interfaces with the Ceramic Driving Strip according to Nanomotion Specifications and a cross roller high quality slide Nanomotion Ltd Page 21 of 29 Thermal Envelope of Performance EOP HR1 HR2 HR4 HES 4 8 16 32 36 12 24 Force N N 100 150 200 250 300 Velocity mm sec Figure 10 Motor Force vs Velocity at the Various Work Regimes a g AB1A AB2 AB4 Air 25 C Air 50 C Vacuum o Maximal Maximal Maximal 3 Duty Cycle Continuous Duty Cycle Continuous Duty Cycle Continuous Opera
3. 3 This new feature is available in drivers bearing serial numbers 4800 and forward 2 CE compliance section has been revised Other changes to the manual are primarily editorials aiming to make the manual a more user friendly one Nanomotion Ltd Page 7 of 29 AB1A Description 1 AB1A Description 1 1 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 1 2 Main Features e 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 e Interfaces with an Analog command e Discrete inputs enable feedback from external sources such as limit switches emergency stop command etc D LED indicators e Reduced sensitivity to cable length and capacitance e Compact dimensions N
4. C Card the motor Common Phase COMMON DIRECTION CONTROL NANOMOTION MOTOR Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card Nanomotion Ltd Page 10 of 29 Connections and W O Settings 2 Connections and I O Settings 2 1 AB1A Front Panel All AB1A connectors and indicators are located on the front panel There are three connectors Control Terminal 1 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 2 1 1 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 7 Motor Out D type 9 pin connector male Interfaces to the motor See also Table 8 1 0 Port D type 25 pin connector female Interfaces to the control source joystick or controller See also Table 9 Nanomotion Ltd Page 11 of 29 Connections and I O Settings 2 1 2 Front Panel Indicators Condition Alarm 1 Alarm 2 VCC lt 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 control
5. N 12 2 2 2 Joystick COMEN iden 15 2 3 Cable CGONNECUONS isis ii titi 16 PAE E We e WEE 16 2 4 MOTO Connections Sa a dr ts ia 16 241 Motor ee Ee de 16 2 5 Opto isolated INPUts xi An 17 2 5 1 Voltage Source Configuration EE 18 2 6 EE EE ENEE CEST Ea re ene EE 19 2 7 Before Operating the MotoF ccocoriociiciani cade teeth een Ee geet deleit 19 3 THERMAL ENVELOPE OF PERFORMANCE EOP cccssseeeseeeeeeeeeeeeeneeeenneeeeeneees 20 3 1 Descriptio e EE 20 3 2 Stage Heat Dissipation Consideration ooccccnncccnnnccnoocccncnnccnnnnnnnnnnncnnnncnnnnnnnnn nn ncnnnnnnns 20 3 3 Thermal EOP for HR Motor Driven by AB1A AB2 AB4 Drivers oooooooocoooocoocccncnnnnonooo 21 4 ABTA OPERATION ees ds 23 4 1 OPETAtIO Ms ere EE 23 4 1 1 Velocity Mode Operation cocoa cta 23 4 1 2 ICD MOA OD STATON carnes diia 23 4 1 2 1 Enabling the Step EE 23 4 1 3 Gate Mode Operation eerst eege d ee Ee EEN 23 4 1 3 1 Enabling the Gate Mode ccoo tre eta cari 24 4 2 Using the AB1A to Drive LS Motors ccocccccnnccoccccccnnncconnnnnnnnnnnnnnnnnnnnnnnn nn ncnnnnnnnnnnnnnnnnnos 24 5 SPECIFICATIONS css ci ati 25 5 1 Parameters and CONAN Ss iii A A tdt 25 5 2 Ee E A ONU E EE E erh 27 5 3 ABTA Pin Arrangement oss gene ic 28 Nanomotion Ltd Page 4 of 29 List of Abbreviations List of Figures Figure 1 ABTA Block Diagram spice iii 9 Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card 10 Figure 3 AB1A Driver Box Front Pan
6. ST Ti nanonorion A Johnson Electric Company AB1A Driver User Manual D N AB1A458000 00 REV F December 2011 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nanoOnanomotion com 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 f
7. anomotion Ltd Page 8 of 29 AB1A Description 1 3 Operating Principles The AB1A Driver Box comprises the AB1A main card and an LC 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 N Command Source SSS N 48 DC Power Source SSS DC Amplifier Converter Circuit 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 Page 9 of 29 Operating Principles AB1A PWM Square wave on the amplifier output 48 MER H BRIDGE AC output that drives L
8. e 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 outside TTL signal 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 TTL allowable parameter values for the Gate Mode are as follows e Voltage 2 5 e Minimum pulse width 50 usec e Maximum pulse frequency 1 kHz Nanomotion Ltd Page 23 of 29 AB1A Operation 4 1 3 1 Enabling the Gate Mode 4 2 Enable the Gate mode of operation by shorting pin 21 see Table 9 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 TTL signal should now be conducted through pin 16 See also section 4 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 hal
9. e section 0 23 12V Output Accessory voltage for powering an external device Max 700mW Return is the GND pin 24 ENABLE_IN Input Enable See section 0 25 5V Output Accessory voltage for powering an external device Max 7 5W Return is the GND pin Nanomotion Ltd Page 29 of 29
10. el al 11 Figure 4 Differential Analog Input Connechon nc cccnnnnns 13 Figure 5 Non Differential single ended Analog Input Connechon sssssssssserreeeese 14 Figure 6 Joystick Connection RE 15 Figure 7 Opto Isolated Input Interface AAA 17 Figure 8 Jumper 1ConfiguralO aaa lt ennet 18 Figure 1 Motor Velocity vs COMMAND ias 21 Figure 2 Motor Force vs Velocity at the Various Work Regimes a g ccccccinncccccccccnccos 22 Figure TEE coord 27 List of Tables Table 1 EOP Table for HR Motors Driven by AB1A AB2 AB4 oooocccccccccccnnncnnnnnnnnnnnnns 22 Table 1 AB1A Power CONSUMPiON ooooooocccccnnccccnnnnononcccnonccnnnnnnnnoncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 25 Table 2 Electrical Specifications EE 25 Table 3 Ph sical dimensi n EE 25 Table 4 Environmental Conditions uk 26 Table 5 Analog leit E 26 Table 6 Control Terminal Pin Out 28 Table 7 Motor Output Port Pin Outes 28 Table 8 1 0 Connector PiN Out rie cesses t EE ve Edge 29 Nanomotion Ltd Page 5 of 29 List of Abbreviations Nanomotion Ltd List of Figures Ampere Alternating Current Direct Current Coil Capacitor Resonance Circuit Light Emitting Diode Milliampere Milliwatt Transistor Transistor Logic Volts Root Mean Square Page 6 of 29 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 4 1
11. f of the maximum command voltage 5V and be limited to 5 seconds The controller RMS torque limit must be set to 35 of the full command Nanomotion Ltd Page 24 of 29 Specifications 5 Specifications 5 1 Parameters and Conditions Table 2 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 3 Electrical Specifications Supply Current Voltage Consumption lt 200 mA 1x HR1 is connected lt 500 mA 1x HR2 is connected 48v 5 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 mAms 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 dimensions Nominal Mechanical 150x110x40 Dimensions WxDxH Weight 450 gr Mounting options Desk top Wall mount Nanomotion Ltd Page 25 of 29 Table 5 Environmental Conditions Specifications 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 low pass fil
12. g them to ground see also Table 9 Powering Up Down Enable Enables the driver activation Should be activated before the motor is run Emergency Stop Disables the AB1A output Mode Enabling Step Mode Enables Step Mode operation 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 Page 17 of 29 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 I O 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 Do not short Pin 1 to Pin 3 on JP2 Doing so shorts the external 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 Nanomotion Ltd Page 18 of 29 Con
13. ler or from a joystick The schematic diagrams of the motion controller and joystick connections are provided in the following sections to the Control Terminal f The motor may be operated with minimum control signals applied NOTE 48V GND POWER VIN VIN ENABLE_IN 2 2 1 Differential Analog Connection There are two options of connecting a motion controller to the AB1A Driver Box e Differential connection see Figure 4 e Single Ended Connection see Figure 5 The differential connection enhances noise immunity Nanomotion Ltd Page 12 of 29 Connections and 1 0 Settings DC POWER SUPPLY 213 oj 2 1 AB1A o ENABLE a Vin ow Vin 2x LEDS BLOCK TERMINAL MALE CONTROLLER Twisted and shielded cable Vout Amplifier E Circuit Shield FAULT 3 D TYPE 25 PIN MALE D TYPE 25 PIN FEMALE PLANT CIRCUIT D Type 9 pin Male D Type 9 pin Female a 3 d E sS 9 8 EE 3 NANOMOTION Motor Figure 4 Differential Analog Input Connection Nanomotion Ltd Page 13 of 29 Connections and 1 0 Settings DC POWER SUPPLY UI a gt sl El S g AB1A K II Ce 4W 3 2y 1 2x LEDS BLOCK TERMINAL MALE Y CONTROLLER Twisted and shielded cable Baie A Amplifier Shield 2 3 STATUS 4 FAULT ENABLE ENABLE WwW wy 3 lt I 5 sl e az 1O D di LO
14. ligations or liabilities to the Purchaser or any other party for loss of profits loss of use or incidental increased cost of operation or delays in operation special or consequential damages whether based on contract tort including negligence strict liability or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of the preceding sentence NM shall not be liable to the Purchaser for personal injury or property damages Nanomotion Ltd Page 2 of 29 CE Compliance CE Compliance 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 Nanomotion Ltd Page 3 of 29 Table of Contents Table of Contents 1 ABTA DESCRIPTION 00 daea aaa a ad area aE Aaien ei 8 1 1 ENT EE 8 1 2 Main SE 8 1 3 Operating EIERE EN ie EE 9 2 CONNECTIONS AND I O SETTINGS occ eccceseeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeaseeeeeeeeeeeeeeeenneees 11 2 1 ABLA Front TE DEE 11 2 1 1 Front Panel COnneciors econo 11 SL gt Front Panel Indicators como 12 2 2 Motion Controller Joystick Conpnechon un 12 2 2 1 Differential Analog Connection ENNE
15. nections and I O Settings 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 O 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 Page 19 of 29 Thermal Envelope of Performance EOP 3 Thermal Envelope of 3 1 es Notes Performance EOP 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 c
16. ommand 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 graph and table in section 3 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 The duty cycle is the ratio of the operation time and the total work cycle operation time idle time 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 3 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
17. or a period equal to the remaining warranty coverage of the original part NM s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery within ten 10 days of its discovery ii NM has the opportunity to investigate the reported defect and 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 ob
18. ouped 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 connection the shield on both sides Both the driver 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 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 2 4 1 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 e Up to 2 motor elements 5m H 4 32 motor elements 10m identical motors Branch cables must be of identical length the f Use Nanomotion standard cables Branching is possible to 2 and 4 NOTE S sum of which not exceeding the allowed total cable length Nanomotion can guarantee proper driver and motor performance A only if Nanomotion standard cables are used NOTE Nanomotion Ltd Page 16 of 29 Connections and 1 0 Settings 2 5 Opto isolated Inputs The following inputs are opto isolated and are activated by shortin
19. ter Input voltage range 10V Input impedance 10kQ 4kHz Nanomotion Ltd Page 26 of 29 5 2 AB1A Layout Nanomotion Ltd Specifications ABI DRIVER BOX la Dimensions in mm Efeze E E VO PORT MOTOR OUT _ soso dessen o de Jo y es ce 149 F o oo eo ene oo oe 000000000000 000000000000 000000000000 000000000000 a 000000000000 000000000000 000000000000 000000000000 000000000000 t 72 _ 28 Figure 11 AB1A Layout o SS ete as General tolerance 0 4 W Sie Page 27 of 29 Specifications 5 3 AB1A Pin Arrangement Table 7 Control Terminal Pin Out 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 0 Table 8 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
20. 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 Page 28 of 29 Specifications Table 9 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 Ground 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 0 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 0 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 Se
21. tion Operation Operation time sec time sec time sec a 100 00 100 00 100 00 b 100 00 100 00 44 184 c 100 00 92 137 26 107 d 100 00 62 93 17 72 e 78 87 47 70 13 55 f 56 62 33 50 9 39 g 50 56 30 45 8 35 Table 1 EOP Table for HR Motors Driven by AB1A AB2 AB4 Nanomotion Ltd Page 22 of 29 AB1A Operation 4 AB1A Operation 4 1 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 defined 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 4 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 4 1 2 Step Mode operation In this operation mode 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 4 1 2 1 Enabling the Step Mode Enable the Step operation mode by shorting pin 16 see Table 9 to the ground 4 1 3 Gat
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