AB2 Driver Box User Manual
Contents
1. 24V 5A DC to DC converter 5v 12v 12v voltage feedback PWM drive ad_directio Motor frequency ANALOG serial data Vin Vin INTERFACE Direction Power PWM stage ditherring CONTROLLEY 2over voltage protection emerganc Ree DISCRETES ae ace right amp left INPUTS curren secondary over voltage To protection Transformer moo 9 connector ss Motor Figure 2 Schematic Diagram of the Output Stage in a Single Motor Configuration Nanomotion Ltd Page 12 of 34 Connections and I O Settings 2 Connections and l O Settings 2 1 Front Panel Description The AB2 front panel see Figure 3 contains the following connectors and indicators e Control Terminal e Motor Output port e 1 O port e Enable Fault Indicators e Ground Screw S SSEEE AB2 DRIVER BOX IO PORT MOTOR f o L x vvv j Figure 3 AB2 Driver Box Front Panel Nanomotion Ltd Page 13 of 34 Connections and I O Settings 2 1 1 Front Panel Connectors Connector Description 5 pin connector Provides input from an external 24 VDC power supply Control 5A maximum terminal Provides direct control of the motor ENABLE signal The primary voltage 24V is supplied from an external source2. AIN 1NANONOTION A Johnson Electric Company AB2 Driver User Manual D N AB02458000 00 REV C 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 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 2003 2012 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 r
3. I O Port D type 25 pin connector female Interfaces to the control source joystick or controller Motor Out D type 9 pin connector male Interfaces to the motor See also Table 9 Table 10 and Table 1 1 2 1 2 Front Panel LED Indicators Table 1 LED indicators POWER ENABLE Vcc 4 6V Off Off Vcc 4 6V Motor not connected Green Off Motor connected and disabled Green Orange Motor enabled Green Green Over Current Over Voltage Green Hed Nanomotion Ltd Page 14 of 34 2 2 Connections and I O Settings Motion Control Interfaces The AB2 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 AB2 Driver Box are provided in following sections The motor may be operated with minimum control signals applied to the Control Terminal FF wore 2 2 1 Nanomotion Ltd 24V GND POWER VIN VIN ENABLE_IN Analog Controller Connection There are two options of an analog connection of a motion controller to the AB2 Driver Box e Differential connection see Figure 4 e Single Ended Connection see Figure 5 The differential connection enhances noise immunity Page 15 of 34 CONTROLLER Vout Vout Shield STATUS ENABLE PLANT Twisted and shielded cable Connections and I O Settings DC POWER SUPPLY 2x LEDS Block Terminal Male A 3 ENABLE 24 AB
4. I O Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 1 on the AB2 card according to the voltage source e Pin 1 shorted to Pin 2 for an internal 5V source default factory setting e Pin 2 shorted to Pin 3 for an external voltage source ie l e 1 JP1 JP1 s f I e e Connection for Connection for Internal source External source Figure 8 Jumper 3 Configuration Do not short Pin 1 to Pin 3 on JP3 Doing so shorts the T 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 Nanomotion Ltd Page 21 of 34 Connections and I O Settings 2 6 Fault Output The Fault Output follows open collector logic When activated by shorting to ground it disables the motors under the following conditions e Over current 8A e Over voltage e The motor is not connected and the Motor Connected signal section 2 4 is floating e he AB2 is disabled or the Emergency Stop input is activated e One of the Limit Switches is activated A The Fault output is capable of sinking a maximum of 20 mA and is not NOTE protected from over current 2 Before Operating the Motor Before operating the AB2 verify the following e Jumper JP1 is set to the required mode of operation see section 2 5 1 e Mechanical screws lock all connectors e he external p
5. OUD ass ctt eohebia ados petet A 34 Nanomotion Ltd Page 8 of 34 Nanomotion Ltd Lists List of Abbreviations A AC DC LED mA mW TTL Vrms Ampere Alternating Current Direct Current Light Emitting Diode Milliampere Milliwatt Transistor Transistor Logic Volts Root Mean Square Page 9 of 34 AB2 Description 1 AB2 Description 1 1 General The AB2 is a single axis 24V amplifier box designed to drive up to 16 Nanomotion motor elements Its main feature is the ability to drive motors in the Piezo Actuator mode of operation or DC Mode which enables the motors to achieve superior position resolution and accuracy in the range of a few nanometers on target Currently the motors driven by the AB2 are the HR types and the ST 1 2 Main Features e High precision 11 bits control of the output power stage e Drives up to two HR8 motors e Four operation modes Velocity Step Gate and DC e Interface to an analog command e Discrete inputs enabling feedback from external sources such as limit switches emergency stop command etc e Tricolor LED indicators e Over Current Over Voltage and No Load protections e Minimized sensitivity to cable lengthening e Compact dimensions Nanomotion Ltd Page 10 of 34 1 3 AB2 Description Operating Principles The AB2 Box consists of a single card command source that converts the input command signal into a corresponding PWM output signal In this mode
6. a pio i te adde pete a dr dd obdtuulct bius deuhats 21 Figure 1 Motor Velocity vs COMMANGA cccccecccceeeeeseeeeeeeeceeeesseeeeseueessaeeeseeesseeesaes 24 Figure 2 Motor Force vs Velocity at the Various Work Regimes a 9 25 Figure 9 Typical DC Mode Behaviour cccccccssecceeeceececeeceeeeceeeceueesseescueessuseaeeensess 28 Figure 10 AB2Z ESVOlbieideeeit bare a dur tadaa falda A pd saa pat Ra LA OTU 32 Nanomotion Ltd Page 7 of 34 Lists List of Tables Table T ED WaGIGAlONS e teach sea tiau E Ra 14 Table 1 EOP Table for HR Motors Driven by AB1A AB2 ABA eese 25 Table 2 AB2 Power GOMSUIMDUOM xess vimxa css o gei Qua pica es vi e Ya Stk v eerte bt Pra rd PE dc epus ts 30 Table 3 Electrical SOSCHICATION Six i tm cx Ete eta e iade adieu ell Abort e ta c b ons 30 Table 4 Physical Proptrtles core eot epe Pacte bee bo to te ote te Cote i uote te Canada 30 Table 5 Environmental Conditions cccccccccsscecececseeceeeteeeeseeeseueeseeeceeeesaeetensesseetans 30 Table 6 Analog Input Specifications s 5 apio tbv ERR EFE Hr Parr PI E FE DEI exp UE MA 31 Table 7 DG Mode SpecifICatlODIS iesssnesuexPaset ska ek ORFI SEN IR RS ViVRENERVE ERES GrP LOK Re EVEP AE IUE 31 Table 8 GControl Terminal Pint QUI et ri de eiut AERE VAT EP Rt uu VERRE XE REESE rtu ta dA Ec 33 Table 9 Motor Output Pont Pin QUE ita eo notet vete a arbo Henri 33 Fable TOS NOPO PIT
7. and damaging the motor 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 34 Thermal Envelope of Performance EOP HR1 HR2 HR4 HR8 4 8 16 32 3 6 12 24 Force N NO Is CO o 0 50 100 150 200 250 300 Velocity mm sec Figure 10 Motor Force vs Velocity at the Various Work Regimes a g AB1A AB2 AB4 Maximal Maximal Maximal Duty Cycle Continuous Duty Cycle Continuous Duty Cycle Continuous Operation Operation Operation time sec time sec time sec NEN mo o9 e e e e Table 2 EOP Table for HR Motors Driven by AB1A AB2 AB4 Nanomotion Ltd Page 25 of 34 3 3 1 Nanomotion Ltd Thermal Envelope of Performance EOP An Example for Defining the EOP for AB2 Driver in Vacuum Environment An example for using the graph and table Figure 10 and Table 2 for the AB2 driver and HR8 motor A vacuum application requires 10N at a velocity of 100mm sec The graph shows that this point of operation corresponds to the curve d The table shows that curve d and a vacuum environment require that a duty cycle of 1796 will not be exceeded and the maximum continuous operation time is limited to 72 seconds Page 26 of 34 4 1 4 1 1 4 1 2 AB2 Operation AB2 Operation Oper
8. cable length connecting the AB2 to the motor s is 20 meters for the HR types and 10 meters for the ST Use Nanomotion standard cables Branching is possible to two and four identical motors Branch cables must be of identical length the 4 sum of which not exceeding the allowed total cable length NOTE Nanomotion can guarantee proper driver and motor performance only when Nanomotion standard cables are used 2 5 Opto isolated Inputs The following inputs are opto isolated and are activated by shorting them to ground See also Table 11 e Powering Emergency Stop Disables the AB2 output Enable In Should be activated before the motor can be run e Mode Enabling Step In Enables Step Gate operation Modes DC Mode Activates the DC mode of operation e Direction Restrictions Left SW Disables the motor motion to the left Right SW Disables the motor motion to the right VCC Jumper 3 VCC User Voltage 3900 To control logic I I I I I I I I I I I I I I I I I l I Command Input I I l l AB4 Figure 7 Opto Isolated Input Interface Nanomotion Ltd Page 20 of 34 Connections and I O Settings 2 5 1 Voltage Source Configuration The opto isolated input signals 2 2 1 are activated as short to ground The voltage for the opto isolated circuit see Figure 8 is provided by either the internal 5V supply default state or an external voltage supply via pin 13 on the
9. 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 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 dissipate 2W each per motor s finger tip with maximum temperature rise of 15 C Nanomotion Ltd Page 23 of 34 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 90 Velocity mm sec 1 2 3 4 5 6 7 8 9 10 Command V Figure 9 Motor Velocity vs Command Figure 10 and Table 2 are designed to help the user determining the correct envelope of performance and avoid overheating
10. the output transformer amplifier circuit converts the PWM output signal into a high voltage sine wave that drives the motor The PWM controller is power fed from an internal DC to DC converter that is fed from an external 24V power supply The AB2 card 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 AB2 Driver Box Power Supply 7 L Command Source LEE DN PWM Output jill PWM Transformer Push Pull Resonant Driver DC to DC Input Amplifier and Converter PWM Controller Figure 1 AB2 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 Page 11 of 34 AB2 Description
11. 047 ST a V oltaga valt Figure 11 Typical DC Mode Behaviour 4 1 4 1Enabling the DC Mode Enable the DC mode of operation by shorting pin 21 to the ground Nanomotion Ltd Page 28 of 34 AB2 Operation Warning When switching between AC and DC modes the command voltage should be less than 3V 4 1 4 2DC mode EOP When in DC mode the driver s EOP Envelope of performance is limited Exceeding it may result in damaging the driver The following EOP should be maintained regardless of the type or number of motors driven Command V Max continuous DC Max DC mode Duty mode operation cycle 96 Nanomotion Ltd Page 29 of 34 Specifications 5 Specifications 5 1 Parameters and Conditions Table 3 AB2 Power Consumption Power Input 24 VDC 5 stabilized Max Motor Output 280 Vrms Power Consumption without Load 24 VDC 200 mA Power Consumption with Max load 24 VDC 5A Table 4 Electrical Specifications Supply Current Applicable When Voltage Consumption UU 400 mA HH1 is connected 800 mA HR2 is connected 1500 mA HR4 is connected 24 VDC 5 2800 mA HR8 is connected 300 mA ST 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 AB2 power consumption without motor 24 VDC 125 MAms according to the following e 125mA n current consumption of a single motor e n Number of motors that are c
12. 2 Card D Type 9 Pin Female D Type 9 Pin Male Z gt zi ao a OQ Oo z o zZ 3 5 NANOMOTION Motor Figure 4 Differential Analog Input Connection D Type 25 Pin Male D Type 25 Pin Female Emergency Stop Right Limit2 Left Limit 10 GND 4 c UP The other option of an analog controller connection is the single ended connection Nanomotion Ltd Page 16 of 34 Connections and I O Settings DC POWER SUPPLY c ENABLE AB2 Block Terminal Male AB2 Card D Type 9 Pin Female D Type 9 Pin Male Z CONTROLLER Twisted and shielded cable Vout Vout Shield STATUS FAUIT 3 ENABLE ENABLE 24 D Type 25 Pin Male D Type 25 Pin Female PLANT Emergency Stop 12 Right Limit 22 a Left Limit 10 GND 4 NANOMOTION Motor Figure 5 Non Differential single ended Analog Input Connection Nanomotion Ltd Page 17 of 34 Connections and I O Settings 2 2 2 Joystick Connection Using the joystick for supplying the command voltage to the AB2 Driver Box allows the user to manually drive the motor without using a motion controller JOYSTICK pmamZzo4dzm40v Twisted and shielded Status Nanomotion Ltd Os aaa DC POWER SUPPLY c ENABLE 2x LEDS Block Terminal Male AB2 Card D Type 25 Pin Male D Type 25 Pin Female Left Limit 10 GND 4 D Type 9 Pi
13. S RESA A SEA AA 15 22 Analog Controller Connection rri eor ee FERE vi eeu bue Uto Ed ense tU ovid Reate buda but 15 2 222 JOySUCcK C ONNCCHON a5 T a ioni m uina textual e iba Mitt talis Nu natal Adae 18 2 3 Cable CONMCCHONS uisaute etae iex hd yetsicali ae utu esa cosi o E MESE DUE 19 Pas NMEE US Et 19 2 4 Motor Gre glar ieuo A cr E 19 25 1 Motor Cable Lenptlizaucseten edo pea aerae rs Deco debeat cts tpa Dci OUR pe 20 2 5 ODIO SOlALSC QU secession 20 Zo Woltaee Source COMMGUTANON o oie reet cas dorsi ian ines var cas dares aaa etes 2 2 6 FAU QUID Ub PEE 22 2 7 Before Operating the Motor cccccccccseccceeeeseeeeeceeeeceecesseeeeseuseseueesssessaeeesaes 22 3 THERMAL ENVELOPE OF PERFORMANCE EOP esee 23 3 1 Bi ejeiepc c TN 23 3 2 Stage Heat Dissipation CONSIGEration ccccceececsececceeeecaeeeeseeeeseueeseesesaeeesees 23 3 9 Thermal EOP for HR Motor Driven by AB1A AB2 AB4 Drivers 24 3 3 1 An Example for Defining the EOP for AB2 Driver in Vacuum Environment 26 4 ABZ OPERATION e 27 4 1 ODE FAUOM MOCES mer ET 27 Alt Velocity AC Mode OperallODeouehte cda pc stuelepus a duas E 27 A Mee SSICpDuMOdEODEFAl OD do ded cm owe entem ese acr eai rat Ced etat eue Uo ineat de ERA RUE 21 4 1 2 1 Enabling the Step Mode sseeesssesssseeenneeeen
14. The driver output to the motor is turned 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 determines the speed of the motor The allowable parameter values for the external signal are as follows e Voltage levels OV on 5V off Open collector logic is also optional e Minimum pulse width 50 usec e Maximum pulse frequency 1 kHz 4 1 3 1 Enabling the Gate Mode Enable the Gate mode of operation by shorting pin 8 to the ground Verify that pin 16 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 16 4 1 4 DC Mode Operation When operating in the DC mode the driver enables the motor to converge to 10nm and less The travel available in this mode is 300 nm from the point reached by the motor while operating in the regular Velocity AC mode As shown in Figure 11 the position is a linear function of the command voltage with certain hysteresis some asymmetry is normal and expected Poston ve Voltage 1 nano encoder nasalubion m E E BRR E a E m qe mo mo m um mp omm umo me m m qu me mm umo me Gm cmm cmo ems mo cmo gm m cm m m m coms omm m came rs cms cames c m cm cm ens cm c m cms m ge comes c mem cm c ms qo mm mes me qm cm ms mm c moms Reo qu om Rs m m mpm mom mo m Position nsnometer B 8 H8 8 8H 5HS G LER UB mL SEES 0
15. ation Modes The AB2 can be operated in one of the following operation modes e Velocity AC Mode in which the motor is driven continuously This is the default mode e Step Mode in which the driver output is turned OFF and ON at hardware predefined intervals thus driving the motor in discrete steps e Gate Mode enables to drive the motor in low velocities in open loop by turning the driver output ON and OFF in time intervals defined by the user e DC Mode in which the motor works as a piezo actuator enabling accurate positioning of a few nanometers Both Enable In and Motor Connected inputs must be active for the four modes to operate Velocity AC 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 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 the speed of the motor 4 1 2 1Enabling the Step Mode Enable the Step operation mode by shorting pin 16 to the ground 4 1 3 Gate Mode Operation Nanomotion Ltd Page 27 of 34 AB2 Operation In Gate Mode as opposed to Step Mode the pulse width and pulse frequency are user defined
16. ce Revision History ECO Revision Release Details date NA Aug 2012 Administrative change added patent information section in front matter 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 EN 61010 1 2001 Nanomotion Ltd Page 5 of 34 Table of Contents Table of Contents 1 AB2 DESCRIPTION errire eda us uus haus sa voces ure ewe usse heads ue de senatu cd ed uE un neu Vosa mud es 10 1 1 Caere alissesosis esa ko dom EV R TREE STA To SR eR c UD olas UI swebh danas COM itas ol das R Edd eur c6 10 1 2 METRI S 10 1 3 Ope rating Princlples iassadnagcuas sep tdsis nag utc arde qua ckaaus Ps ob Ems Du ud Uu nee Duk DU Neu tat met tus 11 2 CONNECTIONS AND TO SETTINGS dies ei diee paca dcc stade oux e cus px ep ia puce Ec Cete Ree ERO LS 13 2 1 Front Pane B cedeisppet c x 13 ZAG Front Pane C OMMCCtO S science teni asia tense ae fas uto ORI cota tue oa acean Ede De RS Nc ed 14 2 1 2 Front Panel Ty DiGi At On Ss escena edite e E oda aac etat ul eee 14 2 2 Motion Control Interfaces sorps a
17. e driver operation without the motor Power supply ground Shorted to the shield mouses masa SS Page 33 of 34 Specifications Table 11 VO Port Pin Out Pn Name Function Descripfon e jme oe mo CS Noite Noite GATE INT MODE Input Enables Gate Mode operation See section4 1 3 1 e LEN s eo o terTSw eoa kettm Swen Gee secion25 esee e Accessory voltage for powering an external um ues Max 360mW Return is the GND pin Er ee on power supply for the opto isolated type inputs See section 2 5 1 Ce 2 7 NN spe e seme et Used in Step amp Gate modes see sections 4 1 2 1 4 1 3 1 and 2 5 v un ron veser Reset Activated shored to ground C T a C T m No os epe m g Enables DC mode operation See Sections 4 1 4 1and 2 5 om ne Accessory for powering an external device Load m 360mW Return is the GND pin LN input Enable Enable signal see section 2 5 see section 2 5 Output Accessory voltage for powering an external device max 3 5W Return is the GND pin Nanomotion Ltd Page 34 of 34
18. eplaced 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 was designed to be used NM shall
19. n Female D Type 9 Pin Male C z Q c G NANOMOTION Motor Figure 6 Joystick Connection Page 18 of 34 Connections and I O Settings 2 3 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 2 3 1 Shielding oince the high motor voltage is induced on the cable shield it is required to ground the shield on both sides Both the driver card 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 see Table 10 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 AB2 Driver Box 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 Nanomotion Ltd Page 19 of 34 Connections and I O Settings 2 4 1 Motor Cable Length The maximum allowed total
20. neeneem enne nnne nnns 27 44 5 XGate Mode ODOeTallOfl ducis ioa ostio 105 te pce tah ben copd pan M SERM LI c ADU DA pup Re Lo APUe e TIRAS 21 413 Enabling the Gate Mode caironar AE EA 28 Ake DC Mode ODeratiOlloaescusanbsccidtetse i auebtcddos e a Ud foie uabtet 28 4 1 4 1 Enabling the DC Mode cccccccceeccceeeceeeeceeeceececeeeeceeeceueeseeeseeessueesueeneeeseneens 28 4152 DOMOS EOP cedente dune idet sores ii mE educ x E 29 Euge 3 ect 30 5 1 Parameters and Conditions apres aa bea od un de pid repris AA 30 Nanomotion Ltd Page 6 of 34 5 2 AB2 NOUN Sad stor trt E 32 5 3 ABZPRATaNGENEN erase irra Rednetutendnanimuelantmeetaniimentnat i 33 List of Figures Figure ABZ Block DIAGFAIN s scuetscei ip teca tacui uio iae tat esp esae ou oa Era poc Frag ibn PUR E Ri 11 Figure 2 Schematic Diagram of the Output Stage in a Single Motor Configuration 12 Figure 3 AB2 Driver Box Front Panel 2 atre br ETE tL eO vd eb dese ed abuse uda lute Dee Duce Deu ded 13 Figure 4 Differential Analog Input Connection cccceccceececeeeseeeceeeeceeeeseesaneeseesaees 16 Figure 5 Non Differential single ended Analog Input Connection 17 Figure G Joystick COP nectlOn oesescos usted cuta Eu uu ao eme editus ce enixe lesen du suu tac ke cut as vp Usus 18 Figure 7 Opto Isolated Input Interface cccccecccseecseeceececeeeceeeceueecseeeceesseeessusensess 20 Figure g Jumper s GCOnDITQUE SHOE iiec
21. 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 2 of 34 CE Compliance 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 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 Page 3 of 34 CE Complian
22. onnected n 1 2 3 4 Table 5 Physical Proprties Weight 450g Table 6 Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Nanomotion Ltd Page 30 of 34 Specifications Operating Humidity Up to 80 Non condensing Table 7 Analog Input Specifications Input low pass filter 2 7 KHz Table 8 DC Mode Specifications Switch time between Velocity and DC modes Nanomotion Ltd Page 31 of 34 Specifications 5 2 AB2 Layout The dimensions are given in mm General Tolerance 0 4 4xM3 FOR MOUNTING 2 SLOTS FOR MOUNTING USE M4 SCREWS DIN 7985 Figure 12 AB2 Layout Nanomotion Ltd Page 32 of 34 Specifications 5 3 AB2 Pin Arrangement Nanomotion Ltd Table 9 Control Terminal Pin Out e feao md 3 VIN Input Analog Command from controller 4 VIN Input Analog Command from controller ENABLE IN Enable See section 2 5 Table 10 Motor Output Port Pin Out 1 GND Power supply ground oafety input shorted to pin 6 in order to verify the motor connection and to prevent driver operation without the motor Ne JjNeuwed o 000000000 3 Motor Up High voltage output Connected to the white motor terminal High voltage output Connected to the black motor terminal 5 Motor Down High voltage output Connected to the red motor terminal Input oafety input shorted to pin 1 in order to verify the motor connection and prevent th
23. ower supply is capable of supplying the required power consumption of the AB2 see Table 4 e There is no command when switching the power to ON e All motors are correctly mounted and 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 22 of 34 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 he heat generation depends on motor s work regime driver command level e he 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
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