AB1A-3U Driver/Amplifier User Manual
Contents
1. 24 SPECIFICATIONS ede dits ced cee eta esie iS i dole Pee 26 4 1 Parameters and Conditions eos aee Donee rtp Dee E Pr needy uen ER CE ud 26 22 EAVOlI se iter bnt oo th em sace eU ot bet elata ac 27 43 AB1A 3U Pin 28 Nanomotion Ltd Page 7 of 29 Lists List of Figures Figure 1 AB1A 3U Block ton ret nce ERR DER ber o dunt ERU e Re fne 11 Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card 12 Figure 3 Differential Analog Input 15 Figure 4 Non Differential single ended Analog Input Connection 15 Figure 5 J1 Connection to a Motor or Branch Cable 17 Figure 6 Jumper 2 COnfIgHl allOfisc cete oo pa etae eee UR Ed he Rod 20 Figure 7 Opto Isolated Input 20 Figure LED IndiGAbore oe eere o Preface pete oae te font ded 22 Figure 9 Motor Velocity vs CONImand seo Eb RS E ER E E RES FER pe ERG 24 Figure 10 Motor Force vs Velocity at the Various Work Regimes a g 25 Figure T1 ABTA SU LayOllb cs ote ani Dicere EP et MEO Ib Drm b rie hee ea 27 List of Tables Table 1 EOP Table for HR2. 5 018 VIN Input Negative analog command input D26 to 10V B18 VIN Input Positive analog command input 0 to 10V B26 D22 Motor Output Connected to the motor COMMON terminal B22 COMMON black wire D24 Motor DOWN Output Connected to the motor DOWN terminal B24 white wire B28 Motor UP Output Connected to the motor UP terminal red wire Z28 B32 Motor Phase in Output Used with an external LC box configuration 232 Otherwise not used 08 48V Input Power supply B8 Z8 D10 User voltage AUX 3 3V External supply input D2 12V AUX Accessory voltage for powering an external output component max 700 mW Return is the GND pin D6 12V AUX Accessory voltage for powering an external output component max 700 mW Return is the GND pin Nanomotion Ltd Page 28 of 29 Specifications Pin Signal Name Function Description B6 Vcc AUX 3 3 Accessory voltage for powering an output jexternal component max 2 5W Return is the GND pin Z2 SER CLK Optional Consult factory B2 CS Optional Consult factory D4 GND Ground B4 Z4 Z6 SER_DATA E Optional Consult factory 212 gt Input System initialization Activated short to ground 014 Reserved For future use Must be left unused 216 For future use Must be left unused 218 Not in use D20 Motor phase Output Used with
3. an external LC box configuration B20 Otherwise not used 200 Not in use 222 Not in use Z24 NC Not in use 226 Not in use D28 Not in use D30 Not in use D32 Not in use Nanomotion Ltd Page 29 of 29
4. was designed to be used NM shall not in any event have obligations or liabilities to the Purchaser or any other party for loss of profits loss of use or incidental increased cost of operation or delays in operation special or consequential damages whether based on contract tort including negligence strict liability or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of the preceding sentence NM shall not be liable to the Purchaser for personal injury or property damages Nanomotion Ltd Page 3 of 29 Limited Warranty 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 51800356 1800356 1800356 2007 533057 pending 2011 093431 pending 7 876 509 10 2007 7009928 pending 200780019448 6 7713361 9 pending 12 294 926 pending GB2008000004178 pending GB2009000003796 pending 12 398 216 pending GB2446428 12 517 261 pending 08702695 1 pending 10 2009 7017629 pending 12 524 164 pending 12 581 194 pending
5. 1 4 2 1 Enabling the Step MOde eerte ter tne bor Reto reb abt ta 13 1 4 3 Gate Mode een Rl ELA guanine teens 13 1 4 3 1 Enabling the Gate Mode eeepc rat erac atte edente ates 14 1 5 Using the AB1A 3U to Drive LS 14 2 CONNECTIONS AND I O 15 2 1 Motion Controller 15 2 2 Cable COnmecuons sue ete etae ce oerte ee 15 aae ee re OE ee 16 2 3 Connections e ioo eerte rote e Eee ceto EU nter Reseed phd Raden Ree eed vaio 17 23 1 Motor Gable 18 2 4 Oplo Isolated Inputs e hee ete e ed da eee 19 2 4 1 Voltage Source Configuration ek 19 25 Sa COUNT S Tas eect Rheni iis 21 26 ern ate t E ha b Tu a Rawal alone eiu beri 21 2 7 Before Operating the Motor cioe rrr rr Ut IR ente RE MR de RO 22 3 THERMAL ENVELOPE OF PERFORMANCE EOP enne 23 OMEN er 23 3 2 Stage Heat Dissipation 24 33 Thermal EOP for HR Motor Driven by AB1A AB1A 3U AB2 ABA Drivers
6. 6 second e OFF phase 0 5 second The amplitude of the output corresponds to the analog input value and thus determines the speed of the motor Enabling the Step Mode In order to enable the Step Mode the B10 pin see Table 7 should be shorted to the ground By default neither B10 nor Z14 see section 1 4 3 1 is shorted to the ground so that the user can select the required connection Gate Mode Operation In this operation mode the motor is driven in open loop at low velocities by turning the driver output ON and OFF in time intervals defined by an external switching The amplitude of the output corresponds to the analog 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 an option e Minimum pulse width 50 usec e Maximum pulse frequency 1 kHz Nanomotion Ltd Page 13 of 29 AB1A 3U Description 1 4 3 4 Enabling the Gate Mode In order to enable the Gate Mode the Z14 pin see Table 7 should be shorted to the ground Verify that the B10 pin is not shorted to the ground at the same time Once Z14 is shorted to the ground the driver is in Gate Mode Conduct now the external switching signal through pin B10 see also section 1 4 2 1 1 5 Using the AB1A 3U to Drive LS Motors Under normal conditio
7. 84 100 92 137 26 107 100 00 62 93 17 72 78 87 47 70 13 55 f 56 62 33 50 9 39 g 50 56 30 45 8 35 Nanomotion Ltd Table 1 EOP Table for HR Motors Driven by AB1A AB1A 3U AB2 AB4 Page 25 of 29 Specifications 4 Specifications 4 1 Parameters and Conditions Table 2 AB1A 3U Power Consumption Power Input 48VDC 5 stabilized 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 3U power consumption without motor 48VDC 125 mAms according to the following e 125mA n current consumption of a single motor e Number of motors that are connected n 1 2 3 4 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 Nanomotion Ltd Page 26 of 29 Configuration Input Power Motor Power Dissipated W W Heat W HR1 9 6 6 0 3 6 HR2 19 2 12 0 7 2 HR4 38 4 24 0 14 4 HR8 56 7 48 0 8 7 2HR8 96 0 77 5 18 5 4
8. HR8 230 0 192 0 38 0 STM 7 2 4 0 3 2 The values given in Table 6 are nominal 4 2 AB1A 3U Layout 160 g 11 50 g 21 1 O ad m I o gs id A 4 50 HE Figure 11 AB1A 3U Layout External connector P N ERNI 334203 male Mating connector P N ERNI 344265 female Nanomotion Ltd Table 5 Analog Input Specifications Input voltage range 10V Input impedance 10 Input low pass filter 2 7 kHz Table 6 Dissipated Heat E Specifications 27 of 29 Specifications 43 AB1A 3U Pin Arrangement Table 7 Input Output Connector Pin Out Pin Signal Name Function Description B10 Step Input Step mode see sections 1 4 2 1 and 2 4 210 Enable Input Drive enable see section 2 4 D12 Emergency Input Safety input Disables the drive stop See section 2 4 016 Switch Input Digital Input For Right Limit Switch See section 2 4 B16 Switch Input Digital Input For Left Limit Switch See section 2 4 B30 Motor Input Safety input The motor operation is enabled 230 connected only when this input is shorted to the ground see section 2 4 Z14 Gate Input Gate Mode see sections 1 4 3 1 and 2 4 B12 Fault Output Open collector see sections 2
9. Motors Driven by AB1A AB1A 3U AB2 ABA 25 Table 2 AB1A 3U Power Consumption esses eene 26 Table 3 Electrical SDOCITIGAtlOriSi oco Path pire ee p cess rte eter eo dps 26 Table 4 Environmental 26 Table 5 Analog Input 27 Table 6 Dissipated Heal Ep vU ELE Pee Ee E eed rcu 27 Table 7 Input Output Connector Pin 28 Nanomotion Ltd Page 8 of 29 List of Abbreviations List of Abbreviations A Ampere AC Alternating Current DC Direct Current LC Coil Capacitor Resonance Circuit LED Light Emitting Diode mA Milliampere mW Milliwatt TTL Transistor Transistor Logic Vrms Volts Root Mean Square HIGH VOLTAGE ON CARD OPERATE ONLY INSIDE A CLOSED SHIELDED METAL ATTENTION CABINET Nanomotion Ltd Page 9 of 29 AB1A 3U Description 1 AB1A 3U Description 1 1 General The AB1A 3U is a single axis motor driver designed to drive up to 32 motor elements in parallel The motor types that can be driven by AB1A 3U are HR LS ST and STM 1 2 Main Features e High precision 11 bits control of the power output stage e Drives up to 32 Nanomotion moto
10. Nanomotion Ltd Page 4 of 29 Revision History CE Compliance ECO Revision Release date Details NA NA Aug 2012 Administrative change added patent information section in front matter Nanomotion Ltd Page 5 of 29 Limited Warranty CE Compliance Nanomotion Ltd This product has been tested for Electric Safety and Electromagnetic Compatibility inside a closed shielded metal cabinet and was found to be in compliance with the following directives and standards EMC Directive 89 336 EEC FCC 47 CFR part 15 subpart B LVD directive 73 23 EC Article 5 EN 61800 3 1996 A11 2000 for second environment EN 61000 3 2 2000 EN 61000 3 3 1995 A1 2001 FCC 47 CFR 2002 part 15 subpart B class A EN 61010 1 2001 Page 6 of 29 Table of Contents Table of Contents Patent Tint Orie lito lec 4 Revision History a eie er e a eer Es ROG e Ese de ERR equas 5 1 ABTA 3U DESCRIPTION ict irent cta ruo eic 10 Wed AGING Gall ecommerce 10 1 2 Main ee Eee ere CM Rt CA ete tin 10 1 3 Operating Principles eren RE exer ne Rune eats 11 1 4 Ge cu rior 12 1 4 1 Velocity Mode 13 1 4 2 Step Mode Operation oi Gide take cnt Prop LP iE eee Pero benda 13
11. WT wanomorion A Johnson Electric Company AB1A 3U Driver User Manual D N AB3U458000 00 REV F August 29 2012 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com Limited Warranty Copyright This document contains proprietary information of Nanomotion Ltd and Nanomotion Inc and may not be reproduced in any form without prior written consent from Nanomotion Ltd and Nanomotion Inc No part of this document may be reproduced translated stored in a retrieval system or transmitted in any form and by any means electronic mechanical photographic photocopying recording or otherwise without the written permission of Nanomotion Ltd Information provided in this document is subject to change without notice and does not represent a commitment on the part of Nanomotion Ltd Copyright 2003 2012 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders Nanomotion Ltd Page 2 of 29 CE Compliance 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
12. d 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 Notes 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 Nanomotion Ltd Page 23 of 29 Thermal Envelope of Performance EOP 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 bases must both be thermally designed to d
13. e 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 AB1A3U PWM Square wave on the amplifier output H BRIDGE AC output that drives LC Card the motor Common Phase COMMON DIRECTION CONTROL NANOMOTION MOTOR Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card 1 4 Operation Modes The AB1A 3U can be operated in one of the following operation modes e 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 Nanomotion Ltd Page 12 of 29 1 4 1 1 4 2 1 4 2 1 1 4 3 AB1A 3U Description 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 e ON phase 1 1
14. e supply pin 20 on the I O Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 2 located near LC card on the AB1A 3U card according to the voltage source e Pin 1 shorted to Pin 2 for an internal 3 3V source factory setting 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 3 3V supply The input circuit is limited to ATTENTION sink up to 10 mA but not less than 3 mA Nanomotion Ltd Page 19 of 29 Nanomotion Ltd Connections and I O Settings Internal voltage source External voltage source Figure 6 Jumper 2 Configuration VCC VCC User Voltage 3900 To control logic Command Input AB1A 3U Figure 7 Opto Isolated Input Interface Page 20 of 29 Connections and I O Settings 2 Fault Output Fault An open collector logic output that is active shorted to ground under the following conditions e Over Current e The motor is not connected and the Motor Disconnect signal is floating e Emergency Stop ut The Fault output is capable of sinking a maximum of 20 mA and is not NOTE protected from over current 2 6 LED Indicators There are five LED indicators located on the front side of the card See Figure 8 for LEDs locations e Power ON Green LED Lights when 48V is applied e Fault Red LED Lights when over current pro
15. issipate 2W each per motor s finger tip with maximum temperature rise of 15 C 3 3 Thermal EOP for HR Motor Driven by AB1A AB1A 3U AB2 ABA 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 o 150 E 100 gt 8 50 0 0 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 10 It interfaces with the Ceramic Driving Strip according to Nanomotion Specifications and a cross roller high quality slide Nanomotion Ltd Page 24 of 29 Thermal Envelope of Performance EOP HR1 HR2 HR4 HR8 4 8 1632 36 1224 Force N N gt N 100 150 200 250 300 Velocity mm sec Figure 10 Motor Force vs Velocity at the Various Work Regimes a g AB1A AB1A 3U AB2 AB4 Air 25 C Air 50 C Vacuum o Maximal Maximal Maximal Duty Cycle Continuous Duty Cycle Continuous Duty Cycle Continuous 26 Operation 26 Operation 96 Operation time sec time sec time sec a 100 00 100 00 100 b 100 00 100 00 44 1
16. ns 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 3U 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 35 of the full command Nanomotion Ltd Page 14 of 29 Connections and I O Settings 2 Connections and 1 0 Settings 2 1 Motion Controller Connection There are two options of connecting a motion controller to the AB1A 3U driver e Differential connection see Figure 3 Single Ended Connection see Figure 4 The differential connection enhances noise immunity AB1A 3U 1 1 1 1 1 1 1 Prom controller 1 1 1 1 1 1 1 1 From controller Figure 4 Non Differential single ended Analog Input Connection 2 2 Cable Connections Nanomotion Ltd Page 15 of 29 Connections and I O Settings Connect the following groups of cables together isolating each of the signals e POWER SUPPLIES use 22 AWG or lower AWG wires for the power supplies For noisy surroundings it is recommended to twist the ground line and the
17. of shipment NM warrants those parts replaced under warranty for a period equal to the remaining warranty coverage of the original part NM s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery within ten 10 days of its discovery ii NM has the opportunity to investigate the reported defect and 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
18. omotion Ltd Page 17 of 29 Connections and I O Settings 2 3 1 Motor Cable Length The overall length of the cables that connect the AB1A 3U driver to the motor elements should be in accordance with the following Up to 2 motor elements 5m 4 32 motor elements 10m Use Nanomotion standard cables Branching is possible to 2 and 4 i identical motors Branch cables must be of identical length the sum of which not exceeding the allowed total cable length 4 can guarantee proper driver and motor performance NOTE only when Nanomotion standard cables are used Nanomotion Ltd Page 18 of 29 Connections and I O Settings 2 4 Opto isolated Inputs The following inputs are opto isolated and are activated by shorting them to ground see also Table 7 e Powering Up Down Motor Connected Safety input The motor operation is enabled only when this input is shorted to the ground Enable Enables the motor activation Emergency Stop ES Disables the AB1A 3U 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 2 41 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 3 3V supply default setting or an external voltag
19. power line together e ANALOG COMMAND a twisted shielded cable is recommended e DISCRETE INPUTS These signals are not sensitive to noise and can be grouped together in the same harness with any of the other groups 2 21 Shielding As the high motor voltage is induced on the cable shield it is required to ground the shield on both motor and driver sides to the infrastructure earth Nanomotion Ltd Page 16 of 29 2 3 Connections and I O Settings Motor Connections The Motor Disconnect signal is available only at the motor or branch cable 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 3U Driver Box use a suitable branch cable or extension cable as supplied by Nanomotion If the motor type or the number of motor elements is changed consult Nanomotion for the appropriate LC Card configuration and other driver configuration changes that may be required This connection is active only when operating the driver in an external LC box configuration White B 28 Z 28 B 30 Z 30 NUM eer ee eee 32 732 This connection is active only when operating the driver in an external LC box configuration 8 o Oo 2 e en lt Motor Branch Cable Female 9 pin D Type Connector Figure 5 J1 Connection to a Motor or Branch Cable Nan
20. r elements in parallel e Interfaces with an Analog command e Discrete inputs enable feedback from external sources such as limit switches emergency stop command etc e LED indicators e Output short circuit protection e Reduced sensitivity to cable length and capacity Nanomotion Ltd Page 10 of 29 1 3 AB1A 3U Description Operating Principles The AB1A 3U Driver comprises the AB1A 3U main card and an LC card The AB1A 3U 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 e For 1 to 16 elements the LC circuit is internal to the AB1A 3U e For 32 elements the LC circuit is external to the AB1A 3U 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 3U Driver Sey P 48 DC Power Source ee DC Amplifier Converter Circuit Nanomotion Motor Figure 1 AB1A 3U Block Diagram Nanomotion Ltd Page 11 of 29 AB1A 3U Description The motor has three terminals UP red wire DOWN white wire and COMMON black wire The voltag
21. tection is triggered e Motor Disabled Red LED Lights when motor is connected and the driver is disabled e Motor Not Connected NC Red LED Lights when motor is not connected e Motor Enabled Green LED Lights when drive is enabled Nanomotion Ltd Page 21 of 29 Connections and I O Settings d n Motor Enabled Sep i o gt C 6 lt E sd Figure 8 LED Indicators 2 7 Before Operating the Motor Before operating the AB1A 3U verify the following Card configuration as specified on card matches the motor to be operated Jumper JP2 is set to the required mode of operation The external power supply is capable of supplying the required power consumption of the AB1A 3U There is no command when switching the power to ON Make sure that all motors that are to be driven by the AB1A 3U are preloaded OO The command should be limited according to the envelope of performance of motor Refer to the Motor User Manual Nanomotion Ltd Page 22 of 29 Thermal Envelope of Performance EOP 3 Thermal Envelope of 3 1 t 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 command level e The heat is dissipated through the following heat transfer mechanisms conduction radiation an
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