AB5-3U Driver User Manual
Contents
1. 33 17 T O mm 0 OU p 100 100 100 100 99 58 48 28 Force Force vs Velocity for different commands HR8 with AB5 100 200 300 Velocity mm sec Figure 1 EOP Considerations AB5 3U User Manual 13 4 4 BOARD LAYOUT AB5 3U User Manual o o e o L e o L o e o o o0000000000000 soeooo 0000000000 cococ LJ O 142. 9 pin d type connector B28 728 61 62 63 64 MOTOR UP Connected to the motor UP terminal red wire at pin 5 of motor 9 pin d type connector AB5 3U User Manual 8 4 5 6 7 36 37 3 D8 B8 24V Input Power suppl Z8 8 39 40 41 K t 42 43 D10 16 USER VOLTAGE Aux Input 3 3V external power supply for the opto isolated type inputs D2 1 10V Output 10V supply for Joystick D6 8 10V Output 10V supply for Joystick B6 9 Vcc Output 3 3V accessory power supply 250 mA Max Z2 3 SER CLK Reserved for future use B2 2 SER CS Reserved for future use D4 B4 11 12 13 14 GND Ground 15 21 22 27 Z4 28 31 32 Z6 10 SER DATA Reserved for future use D14 23 SET OFFSET Input Read command and remember as offset Z16 25 PTC Reserved for future use Z18 44 DC MODE Reserved for future use Please note Pins which are not connected are not listed AB5 3U User Manual 9 4 1 1 Further Description of the Control Interface Signals and Their Functions NOTE All inputs are opto coupled and by default are activated low shorted to ground Signal Fault Emergency Stop Enable Enable Sign 10V 10V User Voltage Step Brake Set Offset Description Open collector logic activated low when either over voltage or over current protections are triggered Safety input Disables the card Enables driver operation When activated i
3. are to be driven by the AB5 are preloaded ATTENTION The command should be limited according to the Envelope of Performance of the motor AB5 3U User Manual 7 Chapter 4 Specifications Table 5 I O Ports Pin Description J5 Pins J6 Pins Name Function Description B10 17 STEP Input Operate driver in Step Mode Z10 18 ENABLE Input Enable active low when no input at B14 B14 24 ENABLE SIGN Input Change enable signal logic to active high D12 19 EMERGENCY Input Disables the driver STOP B30 730 67 68 MOTOR Input Safety input Motor operation is enabled only when this CONNECTED input is shorted to the ground Must be connected to pin 6 of motor 9 pin d type connector Z14 26 BRAKE Input Enable motor s inherent brake B12 20 FAULT Output Notify Over voltage Over current D18 29 Vin Input Negative analog command input 0 to 10V Active when JMP2 is 1 2 D26 29 Vin Input Negative analog command input 0 to 10V Active when JMP2 is 2 3 default B18 30 Vin Input Positive analog command input 0 to 10V Active when JMP2 is 1 2 B26 30 Vin Input Positive analog command input 0 to 10V Active when JMP2 is 2 3 default D22 B22 47 48 49 50 MOTOR Connected to the motor COMMON terminal black wire 51 52 COMMON at pin 4 of motor 9 pin d type connector D24 B24 55 56 57 58 MOTOR DOWN Connected to the motor DOWN terminal white wire at pin 3 of motor
4. WWW vanono TION tro July 2006 Copyright Nanomotion 2006 AB5 3U User Manual Nanomotion Ltd Preface This document contains the proprietary information of Nanomotion Ltd and may not be reproduced in any form without prior written consent from Nanomotion Ltd Information in this document is subject to change without notice and does not represent a commitment on the part of NANOMOTION 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 Copyright July 2006 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders About the User s Manual This user manual provides information and instructions on how to operate the AB5 3U driver card AB5 3U User Manual Nanomotion Ltd Table of Contents CHAPTER 1 INTRODUCTION SH n TH HH TH ng Tang gang 1 Ti General T alare arenarie 1 1 2 Operating Principles R enc rte xu iau 2 CHAPTER 2 CONNECTION INTERFACES QQ nennen nennen ng 3 24 gt BEDUfidiGBtOIs ocu ce E E rh e eases EXE XE isa 3 2 2 Analog Input Specifications ae 4 CHAPTER 3 INSTAELATIO Ns urli 6 SEES VAS Io m 6 3 2 External Power S
5. ble smooth motion with higher precision on motor operation The output transformer amplifier circuit converts the PWM output signal into a high voltage sine wave that drives the motor The required DC voltages are supplied by an internal DC to DC converter that is fed from an external 24V power supply This square wave from the PWM Controller is filtered through the serial inductance circuit and is 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 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 AB5 3U User Manual 2 Chapter 2 Connection Interfaces 2 1 LED INDICATORS Vcc lt 4 6V Vcc gt 4 6V Motor not connected Motor connected and disabled Motor connected and enabled Over Current Over Voltage Table 1 Led Indicators AB5 3U User Manual LED 1 Off Green Green Green Green LED 2 Off Off Orange Green Red Nanomotion Ltd 2 2 ANALOG INPUT SPECIFICATIONS This section describes the specifications and connection configurations for a differential and for a single ended analog input Analog input specification
6. nverts the Enable logic making it active high Accessory voltage for powering a Joystick Ground is at the GND pin Accessory voltage for powering a Joystick Ground is at the GND pin To enable external supply change jumper JP2 on top board to position 3 4 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 Turns off motor voltage thus activating the inherent holding force of the motor Set command level in which the slide is in standstill While applying this command level using either a controller or a joystick toggle enable off and then on again and then short this pin 19 to ground The driver will then remember this level of command as its zero Max 2 5V command PLEASE NOTE JUMPER JMP1 IS FOR FACTORY USE ONLY AND SHOULD REMAIN SET ON 1 2 DO NOT CHANGE AB5 3U User Manual 10 4 2 PARAMETERS AND CONDITIONS Electrical Specifications Power Input 24VDC 5 Power Consumption without 24VDC 0 3A Load Supply Maximum Applicable For Voltage Current Consumption 2A E1 to E4 3A E8 24V 5 6A E16 12A E32 Environmental Specifications Operating Temperature 0 C to 50 C Storage Temperature 40 to 70 C Operating Humidity U
7. p to 80 Non condensing AB5 3U User Manual 4 3 HEAT DISSIPATION CONSIDERATIONS USING THE AB5 DRIVER The AB5 3U driver presents new opportunities for driving Nanomotion motors It enables working with the Nanomotion motor with practically no dead band This is done with a new excitation mode where the motor operates linearly The advantage of Nanomotion inherent brake is kept and a brake command can be sent to the driver so that motor voltage is set to zero producing the motors inherent holding force In this new drive mode the thermal EOP is changed due to higher power consumption of the motor as compared to normal drive mode In continuous operation when the motor is not disabled at stop Brake Off the motor consumes power at all times and therefore has a lower thermal EOP On the following page the motor velocity force curves are presented with a table of allowable operation duty cycle and continue operation In vacuum environments the motor should ideally operate in brake mode only Nevertheless it may be operated in continuous mode as long as the maximum continuous operation time is not exceeded After operation the motor should be disabled and allowed to cool down for 7 minutes AB5 3U User Manual 12 Thermal EOP with AB5 driver Maximal continuous operation time sec Duty Cycle Ambient Ambient 25 C 25 C Ambient Vacuum Continues Brake 25 C Mode mode 100 100 100 100 99 53
8. s Signal type Differential or Single Ended Input voltage range 10V Input impedance 10KO Input low pass filter 2 7KHz Differential Connection This connection provides noise immunity From controller Figure 1 Differential Analog Input Connection AB5 3U User Manual 4 Nanomotion Ltd Single Ended Connection From controller Figure 2 Non Differential single ended Analog Input Connection AB5 3U User Manual 5 Nanomotion Ltd Chapter 3 Installation 3 1 SAFETY WARNINGS N WARNINGS To protect system and operators from high voltage due to pyroelectric effect always connect driver and motor to ground using ground screws During operation motors do heat up When the motor stops it will cool down and an electric charge will be built If the ground is disconnected this will produce high voltage in the driver box and motor housing This effect is also true for baking procedure of vacuum applications AB5 3U User Manual 6 Nanomotion Ltd 3 2 EXTERNAL POWER SUPPLY SPECIFICATIONS Use a stabilized 24V power supply 5 tolerance Maximum current depends on motor type see chapter 5 3 3 BEFORE OPERATING THE MOTOR Before operating the AB5 please verify the following e The external power supply is capable of supplying the required power consumption of the AB5 Section3 2 e There is no command when switching the power to ON e Make sure that all motors that
9. upply Specifications 7 3 3 Before Operating the Motori i 7 CHAPTER 4 SPECIFICATIONS 12220212012 xc0602 161019616402ss 1022436 2 seE 8 4 1 Pin ArrangemoernLt acilia 8 4 1 1 Further Description of the Control Interface Signals And Their Functions 10 4 2 Parameters and Conditions i 11 4 3 Heat dissipation considerations using the AB5 3U driver lt lt 12 44 Board AY OU ute meo e itc reni ec etae A itecto 14 AB5 3U User Manual C Chapter 1 Introduction 1 4 GENERAL The AB5 3U is a single axis amplifier card designed to drive up to 16 Nanomotion motor elements The driver card enables the elimination of the inherent friction of the motor thus simplifying the interface by allowing the use of almost any motion controller The driver is configured according to the type of motor s that it drives Features e High precision 11 bits control of the output power stage e Interface to an analog command e Discrete inputs enable feedback from external sources such as emergency stop command Enable etc e ri color LED indicators e Minimized sensitivity to cable length AB5 3U User Manual Nanomotion Ltd 1 2 OPERATING PRINCIPLES The AB5 3U consists of a single card that converts the input command signal into corresponding PWM output signals The card is designed to overcome the dead zone and to ena
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