AB4 Driver User Manual
Contents
1. LH HH HH Ho kh kh 8 1 4 2 1 Enabling the Step Mode E1 222 S 211 11T TH TH re 8 1 4 8 Gate Mode OperafiOn c TT SH TS TT TH ennnen 8 1 4 3 1 Enabling the Gate Mode S n1 nS HS HT HH Hee 8 2 CONNECTIONS AND I O SETTINGS 22222222 9 2 1 Front Panel Descripfion lt lt eiia HH HH KH 9 2 1 1 Front Panel ConneCfOrS c ST Hi ky 10 2 1 2 Front Panel LED IndicafOrS S1 1S meme 10 2 2 Input Output POI cp e eret ert aa Re ER Re E Mek RE Eterna 10 2 3 Motion Control Interafaces SH HH ng Hy 11 2 3 1 Analog Controller ConnecfiOn 511 111kg nhe 11 2 3 2 Digital Controller ConnecfiOn HH HH ng He 13 2 3 3 Joystick Connection oie e euge codes tle Ue a Ds c la ceed Fe EYE EDO Ede dee 14 24 Gable Connections e teg dirette EH d dene C EDU TER Doc une 15 24 Shigldirig zcutc Gite reo te ide te nai e edo eek 15 2 5 Motor Connections cede aed dedu atu eee dte dde 15 2 5 1 Motor Cable Length i cte tet i diee be br er 01112 edens 16 2 6 Opto isolated nDU S SH TT ng TH TH nennen 16 2 6 1 Voltage Source ConfigurafiOIn SH ng ket 17 2 7 Fault Outputs ea Rea eee RE et i eod ae E idet 18 2 8 EOP Protection2. bit control of the power output stage e Drives either a single HR4 or ST motors up to two HR2s four HR1s e Step Gate modes of operation enabling low velocity in open loop e Interface with an analog controller e Interface with a digital controller e Interface with a joystick e Discrete inputs enable feedback from external sources such as limit switches emergency stop command etc e LED indicators e Protected from Over Current Over Voltage and No Load condition e Minimized sensitivity to cable length up to 20 Meters e Compact dimensions e Low Pass Filter 2 7 kHz AB4 Description Operating Principles 1 3 Operating Principles The AB4 Box consists of a single card command source that converts the input command signal into a corresponding PWM output signal In this mode the output transformer amplifier circuit converts the PWM output signal into a sine wave high voltage that drives the motor The PWM controller is power fed from an internal DC to DC converter that is fed from an external 12V power supply The AB4Card see Figure 1 consists of DC DC converters that provide the voltages necessary to operate the amplifier circuit 5V 12V In addition the card contains two indicators LED s and the external interface connectors for the CONTROL MOTOR and I O signals Figure 1 illustrates a typical application of the AB4 Driver Box Power Supply Ye Command Source 7 AB4 PWM Output I
3. of the Output Stage in a Single Motor Configuration 1 4 Operation Modes The AB4 can be operated in one of the following operation modes e Velocity Mode in which the motor is driven continuously Step Mode in which the driver output is turned OFF and ON at predefined intervals in order to drive the motor in discrete steps 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 AB4 Description Operation Modes 1 4 1 1 4 2 1 4 2 1 1 4 3 1 4 3 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 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 Enabling the Step Mode Enable the Step operation mode by shorting pin 15 see Table 7 to the ground Gate Mode Operation In this operation mode the motor is driven at low velocity in open loop by turning the driver output ON and OFF in time intervals defined by an external switching signal The amplitude of the output corresponds to the analog command input value and thus
4. the appropriate driver configuration changes that may be required 15 Connections and I O Settings Opto isolated Inputs 2 5 1 Motor Cable Length The maximum allowed total cable length connecting the AB4 to the motor s is 20 meters in the HR types and 10 meters in the ST four identical motors Branch cables must be of identical length the Use Nanomotion standard cables Branching is possible to two and _ m sum of which not exceeding the allowed total cable length ut Nanomotion can guarantee proper driver and motor performance NOTE only if Nanomotion standard cables are used 2 6 Opto isolated Inputs The following inputs are opto isolated and are activated by shorting them to ground e Powering Emergency Stop ES Disables the ABA output see Table 7 Enable Should be activated before the motor can be run see Table 7 e Mode Enabling Step in Enables Step Gate Mode operation see Table 7 e Direction Restrictions Left Limit Disables the motor motion to the left see Table 7 Right Limit Disables the motor motion to the right see Table 7 VCC Jumper 3 VCC User Voltage 3909 To control logic Command Input AB4 Figure 9 Opto Isolated Input Interface Nanomotion Ltd 16 AB4 Driver Box User Manual Connections and I O Settings 2 6 1 Voltage Source Configuration The opto isolated input signals 2 2 1 are activated as short to ground The voltage for the op
5. 1 HT TH H 17 Figure 11 ABH4 L3VOUT 2s o pte erp erem rit eb er aid deed er e Cu sex dr eee 21 Figure 12 SPI protocol loglG ecco erre het treten te dedo eet Dt d dr neg 24 Nanomotion Ltd ii List of Abbreviations List of Tables Table 1 AB4 Power ConsumpfiOIn c c1 SH TT HT TT nnne n nnne 20 Table 2 Electrical SpecificafiOnS L 1n TS HT TH TT TH H 20 Table 3 Environmental Conditions c1 SH nh 20 Table 4 Analog Input Specifications 0012011 nn ST TH Ty v 21 Table 5 Control Terminal Pin UI c HS nere 22 Table 6 Motor Output Port Pin QUI L TH TT TH TH HT Hy 22 T ble 7 O Port Pin QUE eerte a ce En E 34x n5 3x5 dende cupa du 23 lif List Tables Nanomotion Ltd iv List of Abbreviations A AC DC LED LSB mA MSB mW SPI TTL Vrms Ampere Alternating Current Direct Current Light Emitting Diode Least Significant Bit Milliampere Most Significant Bit Milliwatt Serial Peripheral Interface Transistor Transistor Logic Volts Root Mean Square AB4 Driver Box User Manual AB4 Description 1 AB4 Description 1 1 General The AB4 is a single axis 12V amplifier box designed to drive up to 4 Nanomotion motor elements The motor types currently driven by the AB4 are HR and ST 1 2 Main Features e High precision 11
6. 5 tr 26 PIN MALE 26 PIN FEMALE PLANT Enable In 1 Emergency Stop 9 gt ight Limit 43 Left Limit 14 Gnd 25 D Type 9 pin Male D Type 9 pin Female NANOMOTION MOTOR Figure 8 Joystick Connection Nanomotion Ltd 14 2 4 2 4 1 2 5 AB4 Driver Box User Manual Connections and I O Settings Cable Connections Connect the following groups of cables together isolating each of the signals e POWER SUPPLIES use 22 AWG or lower AWG wires for the power supplies For noisy surroundings it is recommended to twist the ground line and the power line together e ANALOG COMMAND a twisted shielded cable is recommended e DISCRETE INPUTS These signals are not sensitive to noise and can be grouped together in the same harness with any of the other groups Shielding Since the high motor voltage is induced on the cable shield it is required to ground the shield on both sides Both the driver box and the motor should be grounded to the infrastructure earth Motor Connections The Motor Disconnect signal is available only at the motor connector where it is shorted to ground see Table 6 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 AB4 Driver Box use a suitable branch cable If the motor type or the number of motor elements is changed consult Nanomotion for
7. ANT Emergency Stop 9 Right Limit 1 oo EL oo D Type 9 pin Male D Type 9 pin Female NANOMOTION Motor Figure 5 Differential Analog Input Connection The other option of an analog controller connection is the single ended connection 11 Connections and I O Settings Motion Control Interafaces DC POWER SUPPLY ENABLE A Vin Vin w CONTROLLER Twisted and shielded cable Vout Vout 26 PIN MALE 26 PIN FEMALE PLANT Emergency Stop9 Right Limit1 aeo Left Limit 14 D Type 9 pin Male D Type 9 pin Female NANOMOTION Motor Figure 6 Non Differential single ended Analog Input Connection Nanomotion Ltd 12 AB4 Driver Box User Manual Connections and I O Settings 2 3 2 Digital Controller Connection Serial Clk Convert 26 Pin Male 2 E o u is a N NANOMOTION Motor Figure 7 Digital Controller Connection For further details regarding the SPI protocol please refer to Appendix 1 13 Connections and I O Settings Motion Control Interafaces 2 3 3 Joystick Connection Using the joystick for supplying the command voltage to the AB4 Driver Box allows the user to manually drive the motor without using a motion controller DC POWER SUPPLY JOYSTICK D er re Twisted and shielded POTENSIOMETE Vin 23 GND 2
8. NANOMOTION ro July 2005 P N AB04 458 000 B Nanomotion Ltd POB 223 Yokneam 20692 Israel Tel 972 4 959 0862 Fax 972 4959 0995 Web Site www nanomotion com E mail nano nanomotion com Copyright and Warranty Copyright This document contains proprietary information of Nanomotion Ltd and Nanomotion Inc and may not be reproduced in any form without prior written consent from Nanomotion Ltd and Nanomotion Inc No part of this document may be reproduced translated stored in a retrieval system or transmitted in any form and by any means electronic mechanical photographic photocopying recording or otherwise without the written permission of Nanomotion Ltd Information provided in this document is subject to change without notice and does not represent a commitment on the part of Nanomotion Ltd Copyright July 2003 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders Limited Warranty Nanomotion Ltd hereinafter NM warrants the product other than software manufactured by it to be free from defects in material and workmanship for a period of time of one year except those parts normally considered as consumable expendable components such as motor conditioning brushes The warranty commences thirty 30 days from the date of shipment NM warrants those parts replaced under warranty for a period equal to the remaining warra
9. cted The required power supply value should be calculated by adding the total power consumption of all the motors that are connected to the AB4 power consumption without motor 12VDC 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 3 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 20 AB4 Driver Box User Manual Specifications Table 4 Analog Input Specifications Input voltage range 10V Input impedance 10kQ Input low pass filter 2 7 kHz 3 2 AB4 Layout The dimentions are given in mm 0 4 General Tolerance 4 Figure 11 AB4 Layout 21 Specifications AB4 Pin Arrangement 3 3 AB4 Pin Arrangement Table 5 Control Terminal Pin Out Pin Signal Name Function Description 1 12V Input 12VDC Power Supply 2 GND Ground 3 VIN Input Analog Command from controller 4 VIN Input Analog Command from controller 5 ENABLE_IN Input Enable See section 2 6 Table 6 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 to prevent driver operation without the motor 2 N C Not used 3 M
10. 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 switching signal are as follows e Voltage level 0V on 5V off Open collector logic is also optional e Minimum pulse width 50 usec e Maximum pulse frequency 1 kHz Enabling the Gate Mode Enable the Gate mode of operation by shorting pin 8 see Table 5 to the ground Verify that pin 15 is not shorted to the ground at the same time Once pin 8 is shorted the driver is in Gate Mode The external signal should now be conducted through pin 15 Nanomotion Ltd 8 AB4 Driver Box User Manual Connections and I O Settings Connections and I O Settings 2 Front Panel Description The AB4 front panel see Figure 3 contains the following connectors and indicators Control Terminal Motor Output Port Enable Indicator Fault Indicator Ground Screw AB4 DRIVER BOX FAULT MOTOR Figure 3 AB4 Driver Box Front Panel Connections and I O Settings Input Output Port 2 1 1 2 1 2 2 2 Front Panel Connectors Connector Description Control 5 pin connector Provides input from an external 12VDC power supply terminal 3 5A maximum Provides direct control of the motor ENABLE signal Note The motor may be operated with minimum control signals applied to the Control Terminal 12V GND POWER VIN VIN ENABLE IN The primary v
11. he motor from over heating It s algorithm is as follows For a command less than or equal to 3 Volts the duty cycle is100 For a higher command the duty cycle is limited to 5096 with maximum continuous opeartion time of 4 seconds Nanomotion Ltd 18 AB4 Driver Box User Manual Connections and I O Settings 2 9 Before Operating the Motor Before operating the AB4 verify the following The AB4 configuration matches the motor s to be driven Jumper JP3 is set to the required mode of operation The external power supply complies the power consumption of the AB4 There is no command when switching the power to ON Make sure that all motors that are to be driven by the AB4 are correctly mounted 1 The command should be limited according to the envelope of performance of the motor Refer to the Motor User Manual L ATTENTION 2 Driver should be grounded to infrastructure earth before operating 19 Specifications Parameters and Conditions 3 Specifications 3 1 Parameters and Conditions Table 1 AB4 Power Consumption Power Input 12VDC 5 stabilized Max Motor Output 280 70 for MM Vrms Power Consumption without Load 12VDC 300 mA Power Consumption with Max load 12VDC 3 5 A Table 2 Electrical Specifications Supply Current Voltage Consumption 800 mA max HR1 is connected 12VDC 45 1400 mA max HR2 is connected dd 2400 mA max HR4 is connected 600 mA max ST is conne
12. hr configured 10 bit command Figure 12 SPI protocol logic The Controller updates the data on the clock rise while the AB4 samples the data on the clock negative derivative Nanomotion Ltd 24
13. nput Amplifier PWM Transformer DC to DC and PWM Push Pull resonant Converter Controller driver High Voltage Figure 1 AB4 Block Diagram This square wave from the PWM Controller is filtered through the serial inductance circuit and fed to the push pull transformer circuit to produce a sine wave high output voltage on the secondary coil of the transformer The secondary coil and the motor capacitance serve as the LC resonance circuit The motor is a three terminal component UP DOWN and COMMON The voltage applied between the UP and COMMON terminals causes the motor to move in one direction while voltage applied between the DOWN and COMMON terminals causes the motor to move in the opposite direction Figure 2 is a schematic drawing of the power output Nanomotion Ltd 6 AB4 Driver Box User Manual AB4 Description 12V 3 5A DC to DC converter 5v 12v 12v PWM drive ad_directio Motor frequency ANALOG serial data WIES INTERFACE PWM Direction Power m stage ditherring CONTROLLER over voltage protection emergancy enable DISCRETES redi right amp left INPUTS over current protection i Transformer 1 merr motor connector Motor connected Figure 2 Schematic Diagram
14. nty coverage of the original part NM s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery within ten 10 days of its discovery ii NM has the opportunity to investigate the reported defect and determines that the defect arises from faulty material parts or workmanship and iii the Purchaser returns the affected product to a location designated by NM These provisions constitute the exclusive remedy of the Purchaser for product defects or any other claim of liability in connection with the purchase or use of NM products This warranty policy applies only to NM products purchased directly from NM or from an authorized NM distributor or representative This warranty shall not apply to i products repaired or altered by anyone other than those authorized by NM ii products subjected to negligence accidents or damage by circumstances beyond NM control iii product subjected to improper operation or maintenance i e operation not in accordance with NM Installation Manuals and or instructions or for use other than the original purpose for which the product was designed to be used NM shall not in any event have obligations or liabilities to the Purchaser
15. oltage 12V is supplied from an external source Motor Out D type 9 pin connector male Interfaces to the motor Front Panel LED Indicators Power Motor Motor Motor Fault supply connected connected disconnected on and and driver Driver enabled enabled ENABLE Off Off Green Green Off FAULT Red Off Off Red Red Input Output Port The Input Output Port of the AB4 Driver Box is a 26 pin header located on the rear panel as shown in Figure 4 Mating connector is CA21 26SA100 and CA21 26SR100 by Cvilux or compatible For the I O port Pin Out description please refer to Table 7 Figure 4 I O Connector on Rear Panel Nanomotion Ltd 10 AB4 Driver Box User Manual Connections and I O Settings 2 3 Motion Control Interafaces The ABA Driver Box can receive the input signals either from a motion controller or from a joystick The schematic diagrams of the motion controllers and joystick connections to the ABA Driver Box are provided in following sections 2 3 1 Analog Controller Connection There are two options of an analog connection of a motion controller to the AB4 Driver Box e Differential connection see Figure 5 e Single Ended Connection see Figure 6 The differential connection enhances noise immunity DC POWER SUPPLY ENABLE 4 CONTROLLER Twisted and shielded cable Vin 24 Vin 23 Vout Vout Shield 26 PIN MALE 26 PIN FEMALE ENABLE ENABLE_IN 10 PL
16. or any other party for loss of profits loss of use or incidental increased cost of operation or delays in operation special or consequential damages whether based on contract tort including negligence strict liability or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of the preceding sentence NM shall not be liable to the Purchaser for personal injury or property damages CE Compliance CE Compliance This product was tested for Electrical Safety and Electromagnetic Compatibility It conforms with EMC Directive 89 336 EEC Article 7 1 with FCC 47 CFR part 15 subpart B and with LV directive 73 23 EC Article 5 and satisfies the requirements of the following standards EN 61800 3 1996 A11 2000 for second environment EN 61000 3 2 2000 EN 61000 3 3 1995 A1 2001 FCC 47 CFR 2002 part 15 subpart B class A EN 61010 1 2001 Table of Contents Table of Contents 1 ABA DESCRIPTION ne 5 ATi General p EE 5 1 2 Main Featur8s reete Pert edet eer reviled epe ve eg Adv uker 5 1 3 Operating Principles E ae e a ERE ER exon e E Pe EXER 085025412 6 1 4 Operation Modes eee 7 1 4 1 Velocity Mode Operation rrrerrrnnnnrrnrvrrrrnrnrrnnnrnrrnrnrrnnnernrnnnnrnnnennrnrnnrnnnesrennn 8 1 4 2 Step Mode operafion
17. otor_White High voltage output Connected to the white motor terminal 4 Motor_Black High voltage output Connected to the black motor terminal 5 Motor_Red High voltage output Connected to the red motor terminal 6 Motor Connected Input Safety input shorted to pin 1 in order to verify the motor connection and prevent the driver operation without the motor 7 GND Power supply ground Shorted to the shield 8 N C Not used 9 N C Not used Nanomotion Ltd 22 AB4 Driver Box User Manual Specifications Table 7 I O Port Pin Out Pin Signal Name Function Description 1 12V Aux Accessory voltage for powering a joystick max 5 mA Output Return is the GND pin 2 CONVERT Input SPI see Appendix 1 3 SER CLK Input SPI see Appendix 1 4 SER DATA Input SPI see Appendix 1 5 N C Not used 6 N C Not used 7 MRN Input Reset Activated by shorting to ground 8 Gate Enable Input Gate Mode enabling see section 1 4 2 1 and 1 4 3 1 9 EMERGENCY STOP Input Protection Input see section 2 6 10 ENABLE IN Input Enable signal see section 2 6 11 FAULT Output See section 2 7 12 12V Aux Accessory voltage for powering a joystick max 5 mA Output Return is the GND pin 13 RIGHT SW Input Right Limit Switch see section 2 6 14 LEFT SW Input Left Limit Switch see section 2 6 15 STEP IN GATE Inpu
18. t Step Gate modes selection see section 1 4 2 1 and MODE 1 4 3 1 16 USER VOLTAGE Input External power supply for opto isolated inputs see section 0 17 N C Not used 18 N C Not used 19 N C Not used 20 NC Not used 21 12V POWER IN Input Power supply in 22 12V POWER IN Input Power supply in 23 VIN Input Negative analog command from controller 24 VIN Input Positive analog command from controller 25 GND Ground 26 23 Specifications AB4 Pin Arrangement Appendix 1 Serial Peripheral Interface SPI Instructions The SPI option is only available upon request as it must be factory configured Having this option cancels the standard analog controller interface option and vice versa As there is a linear dependence between the input command level and the output voltage a higher input command is expected as compared to the analog controller command This would be most notable at the lower ranges of command voltages Maximum cable length between controller and driver should not exceed 50cm When in SPI mode the intrinsic motor protection algorithm in the driver is overruled thus extra caution should be taken so as to operate the motor within its defined EOP SPI Protocol Logic 16 bits block F ARARAAAARFARFAASAR XIX a 7X dr X d S lt GSX HX BX GK BK GOK 0K 0 XOX 0K OK XK L sampling data at sign falling edge of clock i 8 __st configured 9 bit command _ 6 nulls
19. to isolated circuit see Figure 10 is provided by either the internal 5V supply default state or an external voltage supply via pin 16 on the I O Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 3 located near LC card on the AB4 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 el s1 ipi P3 e le Connection for Connection for Internal source External source Figure 10 Jumper 3 Configuration Do not short Pin 1 to Pin 3 on JP3 Doing so shorts the m ATTENTION external power supply to the 5V supply The input circuit is limited to sink up to 10 mA but not less than 3 mA 17 Connections and I O Settings Fault Output Fault Output 2 7 Fault An open collector logic output that is active high under the following conditions nore 2 8 Over current 3A or higher The motor is not connected and the Motor Disconnect signal section 2 5 is floating The AB4 is disabled or the Emergency Stop input is activated One of the Limit Switches is activated The Fault output is capable of sinking a maximum of 20 mA and is not protected from over current EOP Protection with the MM When the driver is configured to work with the MM a built in EOP mechanism is enabled to protect t
20. with the MM Hs HH HH kh 18 2 9 Before Operating the Motor nennen 19 3 SPECIFICAT O N S ink 20 List Tables 3 1 Parameters and Conditions cccccccccccccccceeeceeescesseeeseeseesseesaaeesaeeeeeeeeeeeeeeeeeeeeeeeess 20 32 SABAMLAVOUE 2 Sende Tee Ec uiu EE es DE 21 3 3 ABA Pin Arrangement au een heec Ee eee D tere 22 APPENDIX 1 SERIAL PERIPHERAL INTERFACE SP se 24 InStr ctlons inte tte de ee teme atis te tst Ue des 24 SPI Protocol Logio 2 mede xr E e RE RE c 5x aia de a Re VN belies 24 List of Figures Figure 1 AB4 Block Diagrarm iode teer cette perite fupe eres ve a ees 6 Figure 2 Schematic Diagram of the Output Stage in a Single Motor Configuration 7 Figure 3 AB4 Driver Box Front PanelL 1S ng nennen nnne 9 Figure 4 I O Connector on Rear Panel lt 3 1n 1n TT Hy 10 Figure 5 Differential Analog Input Connection sse 11 Figure 6 Non Differential single ended Analog Input Connection ssssss 12 Figure 7 Digital Controller Connection sssssssmeeeeeemmn enn 13 Figure 8 Joystick Connection ssssssssssesssesssse TH HH H 14 Figure 9 Opto Isolated Input Interface ssssssssessssseeeemeen ene 16 Figure 10 Jumper 3 ConfigurafiO 1T S23 31
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