AB5/AB51
Contents
1. 14 2 1 Quick Instructions for Connecting the 14 2 1 1 Wires and Connectors teen ede 15 2 1 2 Motion Control Inlerfaces e PP E OEC Pe ap TO 15 2 1 3 Motor Cable GOD nectlOriS cem ocio dee 19 2 2 Before Operating the 2 800000000 20 3 AB5 ABST OPERATING 21 3 1 Operation a 21 3 1 1 Velocity Mode Operation eei ben res peel bm End 21 3 1 2 Step Mode Operation xot HE I Hee pnis eH Eas Ebr bre 21 3 13 Brake Om Mod eerte e ert tete sed ee deed 22 3 2 Set Offset Procedure 22 BOSOPIBDO up ctu MA AM MA AMAA MAE 22 3 2 2 Setting the uc Er OE ERU e RM ONU 23 4 MOTOR CONDITIONING USING THE AB5 AB51 DRIVER 24 4 1 em oce ec eL AE ad s 24 4 2 The Conditioning Procedure OR ERR OR eR Eee s SERE eig 24 5 TECHNICAL DATA porcine et et 26 5 1 SSC ING ATION 26 5 2 Thermal Envelope of Performance 27 5 24 Description no eem da bes PLA EAD ceed cede mena FA re2. 51 Drivers User Manual AB5 AB51 Operating 3 2 2 Setting the Offset Nanomotion Ltd Be ore Disable and then Enable the driver before starting the adjustment Apply the 0 command and observe if the slide moves Adjust the command voltage level until the slide movement stops While still applying the command level short pin 19 of the I O port connector to ground momentarily refer to Table 8 The driver remembers this level of command as its 0 max 2 5V Apply 0 command level and verify that the slide is motionless 23 AB5 AB51 Drivers User Manual Motor Conditioning Using the AB5 AB51 Driver 4 Motor Conditioning Using the AB5 AB51 Driver 4 1 Introduction Conditioning of any Nanomotion motor before functional operation is an important action It stabilizes dynamic performance reduces wear rate and increases the lifetime of the system The AB5 AB51 driver is unique in its mode of operation comparing to other Nanomotion drivers It allows a full linear response starting with very low commands In order to do so the AB5 AB51 when enabled energizes the motor even at 0 zero command Consequently the AB5 AB51 may cause the motor to overheat especially during the initial phase of conditioning This chapter instructs the user on how to safely condition Nanomotion motors when using the AB5 AB51 driver 4 2 The Conditioning Procedure IMPORTANT The conditioning of all Nanomotion mo
3. Mechanical screws lock all connectors e The external power supply is capable of supplying the required power consumption of the AB5 AB51 see Table 7 e There is no command when turning the power db warnne The driver must be grounded to infrastructure earth before operating caurion The command should be limited according to the motor EOP see section 5 2 Nanomotion Lid 20 AB5 and 51 Drivers User Manual AB5 AB51 Operating 3 5 51 Operating 3 1 Operation Modes Both Enable and Motor Connected inputs must be active for operation regardless of the operation mode The AB5 AB51 can be operated in one of the three operation modes listed below Velocity AC Mode the motor is driven continuously Step Mode the driver output is Hardware turned off and on in predefined intervals of 1 16 sec every 1 2 sec thus driving the motor in discrete steps Brake On Mode while in Velocity Mode turns on the holding force 3 1 1 Velocity Mode Operation In this operation mode the motor is driven continuously by applying the analog command voltage 10 V using a relevant interface device joystick or motion controller This mode is driver s default operation mode 3 1 2 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 ON phase 1 16 second OFF phase 0 5 second
4. The amplitude of the output corresponds to the analog command input value and thus determines the speed of the motor To enable the Step Mode short pin 16 of the port connector to ground refer to Table 8 Nanomotion Ltd 21 AB5 and 51 Drivers User Manual 5 51 Operating 3 1 3 Brake On Mode In Break On Mode the driver disconnects the power supply from the motor however the servo is still active In this mode the motor is turned off it consumes no power To enable the Brake On Mode Set pin 17 of the port connector to low level short to ground refer to Table 8 When in Break On Mode the motor is disabled To run the motor set the Brake Off Mode by setting pin 17 to high level disconnect Note n The combination of Brake On Mode while the driver is Enabled poses a conflict on the servo and a transient could occur upon returning to the Brake Off Mode 3 2 Set Offset Procedure 3 2 1 Description When working with AB5 driver in Brake Off Mode see section 3 1 3 and the motor is enabled the Offset procedure prevents motor s drifting due to system s asymmetry It generates an internal offset command at a 0 command from the controller The Set Offset procedure is executed to calibrate the 0 command in the following cases e Fora new motor system before first time operation For motor which was dismounted from the system and mounted again Nanomotion Ltd 22 AB5
5. Temperature C amp S5 QN 2 Driver is disabled 100 F MM S cipue ne aie qi Fault Signal is on SN 85 amp N andoffat2Hz ____ _ ____ Nie The user can enable the driver after the Fault Signal turns off once for 0 25 sec nd then is constantly on Operation Zone Time Nanomotion Ltd 38 AB5 and AB51 Drivers User Manual Technical Data 5 4 Front Panel Connectors and Indicators 5 4 1 5 4 2 Nanomotion Ltd Front Panel Description The AB5 AB51 front panel refer to Figure 14 for driver s layout has the following connectors and indicators e Terminal block Motor output port e O port connector Power Enable TP LED indicators e Ground screw LED Indicators Condition LED Indicator Power Enable TP 24V power supply not Off Off Off connected 24V power supply is Green Off connected Motor Connected and Green Orange Off Disabled Motor Enabled Green Green Off Over voltage fault Green Red Red Warning zone temperature Green Green Blink Red Over temperature Green Orange Red Table 5 Front Panel LED Indicators 39 AB5 and AB51 Drivers User Manual 5 4 3 Control Terminal Block Pinout Technical Data Pin Signal Name Function Description 1 24 Input 24 power supply GND
6. warning mode Displayed by a blinking TP LED and an Fault output signal pin 3 in the 25 pin I O port connector e Motor temperature above 100 C the motor is disabled The TP LED is constantly on and so is the Fault output pin 3 The driver remains disabled until motor temperature drops to 85 natural cooling e Motor temperature back under 85 C once the driver computed the motor has cooled to just under 85 C the TP LED will blink once and remain on and so will the Fault output signal To resume operation the driver will now need to be disabled and then Enabled again Normal Warning Shut down operation zone zone Motor Enabled Enabled Disabled Nanomotion Ltd 37 AB5 and 51 Drivers User Manual Technical Data IMPORTANT Once the motor is disabled and the Fault is turned on leave the power on and wait for the driver to Enable DO NOT POWER OFF THE DRIVER AND TURN IT BACK ON AGAIN BEFORE LETTING THE MOTOR COOL DOWN Turning off the driver when the motor is hot and then immediately turning it on again will misalign the mechanisms thermal calculations as the accumulated temperature calculation was reset and the TP assumes the motor starts from the thermal equilibrium at the ambient temperature Therefore after the TP feature has turned the system off it is not recommended to activate the system again until the motor is once again at the ambient temperature Motor Calculated
7. V 7 Figure 6 Velocity vs Command Using the AB5 AB51 Driver Nanomotion Ltd Figure 7 and Table 3 are designed to help the user determining the correct envelope of performance and avoid overheating and damaging the motor 29 AB5 and 51 Drivers User Manual Technical Data HR1 HR2 HR4 HR8 4 8 16 32 3 6 1224 Ng 9 2 4 816 T LL h 1 2 48 000 0 0 50 100 150 200 300 Velocity mm sec Figure 7 Force vs Velocity Using the AB5 AB51 Driver at the Various Work Regimes a h AB5 Air 25 C Vacuum Curve Duty Cycle Duty Cycle Continues Duty Cycle Continues Brake_ Off Brake_On Operation Brake_On Operation sec 76 sec 0 sa 100 100 CO 28 230 b 100 100 90 23 210 100 100 90 19 150 100 100 00 14 110 50 80 280 13 90 f 33 58 170 12 66 g 24 45 77 10 44 h 11 28 32 6 5 25 Table 3 EOP Table for HR Motors Driven by 5 Nanomotion Ltd Standard LUT 30 AB5 and 51 Drivers User Manual Technical Data AB51 Air 25 Vacuum Curva Duty Cycle Duty Cycle Continues Duty Cycle Continues Brake Off Brake On Operation Brake On Operation sec sec 0 ca 100 100 CO 56 500 b 100 100 90 54 450 100 100 oo 45 280 d 100 100 CO 33 170 e 100 100 oo 23 100 f 53 58 170 12 66 g 33 48 77 10 44 h 17 28 32 6 5 25 Table 4 EO
8. of system e Demanding applications that operate in high duty cycle Joystick operation in open loop IMPORTANT To benefit from the Thermal Protection feature the motor must be properly mounted preloaded and conditioned Nanomotion Ltd 34 AB5 and 51 Drivers User Manual Technical Data 5 3 4 The TP Feature Implementation Fault output Enable 5 51 Driver i 1 Pra 1 t 4 EOP DIP Switch Air amp amp Vacuum 1 a config i A Nanomotion Driver Core Figure 8 TP Mechanism Block Diagram t 1 ro Ofe AAAA AAAA AAS no O er f Figure 9 DIP Switch Location inside the AB5 AB51 Driver Box Nanomotion Ltd 35 AB5 and 51 Drivers User Manual 25 AIR HR 0000 UBUODDEN RUN 2 t i 3 25 5 6 EOP on off 50 AIR ST UON GO UU LU CI EE COREENI 2 3 4 5 6 Nanomotion Ltd Technical Data 50 AIR HR OEEO OUOU L ION ll 8 g gj 25 VAC ST BUBUUUUUUL NIME 5 6 36 AB5 and 51 Drivers User Manual Technical Data 5 3 5 How It Works The TP feature is designed with the following motor calculated temperature settings e Motor temperature below 85 C normal operation e Motor temperature between 85 C to 100 C
9. to avoid overloading this output 44 Technical Data AB5 and AB51 Drivers User Manual 5 6 AB5 AB51 Layout ABLE O Os a gt Sp SP 48 de de a gt Sp Sp ap de dr dp d a gt fe 9 4 dh a gt gh de sh 9966909022460 0006090090226 o606060999000002 6609999900022 6660999000009 565909000025222 290060009909 6060999000022 60999099099000922 SLOTS FOR MOUNTING USE DIM 7785 S CR EWS ux MS THREADS FOR MOUNTING Note All Dimensions mm 45 Nanomotion Ltd AB5 and AB51 Drivers User Manual Part Numbering Methodology 6 Part Numbering Methodology The part numbers for the AB5 AB51 drivers with Thermal Protection follow this methodology Driver Motor of Elements Temperature Environment AB5 HR 25 51 ST EXX 50 A _ Notes Motor type includes DuraMotor series represents number of motor elements ranging from 1 to 32 n VY Vacuum environment Ambient air environment Nanomotion Ltd 46 5 and AB51 Drivers User Manual Contact Information 7 Contact Information 71 Customer Service Contact your local distributor or email Nanomotion Ltd Technical Support Departmen
10. 2 Figure 13 Jumper 2 Configuration iu sebo rente iat se Doe ete o eo et beate 43 Figure 14 Layout and Mechanical 4 45 List of Tables Table 1 Front Panel ConngclOrs s c eric cnet ort o ree 15 Table 2 AB5 AB51 Driver 26 Table 3 EOP Table for HR Motors Driven by AB5 Standard 30 Table 4 EOP Table for HR Motors Driven by the AB51 Driver Reduced LUT 31 Table 5 Front Panel LED Indicators rie recen tree ne tet eene deeds 39 Table 6 Control Terminal Block PIROUL 40 Table 7 Motor Output POFEPIFIODE teo deiecti einen eei de DR c tte ane ecdesiae 40 Table 8 I O Port Connector Pinout eie rod EC Qu Dirt Prae 41 Nanomotion Ltd 9 AB5 and 51 Drivers User Manual List of Abbreviations A Ampere AC Alternating Current DC Direct Current LED Light Emitting Diode mA milli Ampere mW milli Watt PWM Pulse Width Modulation TTL Transistor Transistor Logic Vrms Volts Root Mean Square DIP Dual In line Package Nanomotion Ltd List of Abbreviations 10 AB5 51 Drivers User Manual Introduction 1 Introduction This manual is designed to help the reader to operate the AB5 AB51 driver It assumes t
11. 25 C will result in 100 Duty Cycle and unlimited continuous operation An Example for Defining the EOP for AB5 Driver in Vacuum Environment Brake Off Mode When Brake Off Mode is used under vacuum conditions the motor will overheat at any duty cycle if operated for a prolong time To calculate the max operation time use curve see Table 3 for time at 0 command and the operation curve for the operating time according to the following formula Tmax mMax continues operation at the operation regime DC max continuous operation under regime a 1 DC If operating under curve c see Table 3 using AB5 in a duty cycle of 1096 the total operation time is 150 0 1 230 1 0 9 222 sec Once Tmax is reached the driver should be disabled for a period of 700 sec 5 3 TP Thermal Protection 5 3 1 Nanomotion Ltd Description Thermal Protections is a motor protection mechanism within the 5 and the AB51 drivers designed to minimize damage to the motor due to overheating It is a unique feed forward temperature protection 32 AB5 and AB51 Drivers User Manual Technical Data feature according to the EOP see section 5 2 where accuracy is conditioned by the ambient temperature s input Based on an internal microcontroller the TP option is an EOP computing algorithm that calculates the temperature of the motor by time integrating the command corresponding to the input power and c
12. 9 7017629 pending 12 524 164 pending 12 581 194 pending Nanomotion Ltd 3 AB5 and 51 Drivers User Manual CE Compliance Revision History ECO Revision Release Details date 00 A Oct 2005 New release 00 B June 2007 Document update 00 C July 2007 Added feature 01 A Aug 2008 Document update 02 A Feb 2011 Updated EOP tables graphs examples T P schemes T P content NA NA Aug 2012 Administrative change added patent information section in front matter Nanomotion Ltd AB5 and AB51 Drivers User Manual 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 5 AB5 and AB51 Drivers User Manual Revision History This page is left blank intentionally Nanomotion Ltd 6 5 and AB51 Drivers User Manual Table of Contents Table of Contents MTM M S 11 1 1 ace PE ROE M PC 11 1 2 Main Features sce e e aue ee egregie 12 3 ABS Operating e 13 2 CONNECTING THE 5 51
13. Ground Vin Input Analog command from controller 4 Input Analog command from controller 5 Enable Input Enable See section 5 5 1 Table 6 Control Terminal Block Pinout 5 4 4 Motor Output Port Pinout Pin Signal Name Function Description 1 GND Power supply Safety input shorted to pin 6 ground in order to verify the motor connection and to prevent driver operation without the motor N C Not used Motor_Up High voltage output Connected to the white motor terminal 4 Motor Common High voltage output Connected to the black motor terminal 5 Motor Down High voltage output Connected to the red motor terminal 6 Motor Connected Input Safety input shorted to pin 1 in order to verify the motor connection and prevent the driver operation without the motor 7 Power supply Shorted to the shield ground N C Not used N C Not used Nanomotion Ltd Table 7 Motor Output Port Pinout 40 AB5 and AB51 Drivers User Manual Technical Data 5 4 5 Port Connector Pinout Pin Name Function Description 1 V In Pos Input 0 to 10Vdc Analog control 2 GND Ground 3 Fault Output See section 5 5 3 4 GND Ground 5 SPI Select Disabled 6 Direction Disabled 7 SPI Data Disabled 8 Acs Int Mode Disabled 9 GND Ground Disabled 10 Set Com 1 Disabled 11 10V Output 10V supply for external device Joystick Emergency Stop I
14. P Table for HR Motors Driven by the AB51 Driver Reduced LUT e Note n nthe Brake Off Mode the full advantage of the AB5 driver is enabled giving a linear response best tracking and low velocity performance Using this mode the motor operates continuously even at 0 command and special attention must be given to maintain the work regime within the permitted Duty Cycle and Maximal Continuous Operation Time refer to Table 3 and Table 4 Once the operation time has reached the Maximal Continuous Operation Time even at Brake Off Mode without motion the driver must be disabled to allow the motor to cool down for at least 400 seconds in air and 700 sec in vacuum environment Nanomotion Ltd 31 AB5 and AB51 Drivers User Manual Technical Data 5 2 3 1 5 2 3 2 An Example for Defining the EOP for AB5 Driver in Vacuum Environment Brake On Mode A vacuum application requires 8N at a velocity of 80mm sec and the motor is disabled when stand still Brake On Mode The graph see Figure 7 shows that this point of operation corresponds to the curve e see Table 3 Table 3 for AB5 in Brake On Mode shows that curve e and a vacuum environment require that a duty cycle of 1396 will not be exceeded and the maximum continuous operation time is limited to 90 seconds Alternatively AB51 can be used giving duty cycle and continuous operation of 2396 and 100 sec respectively The same conditions under Air at
15. Port See Table 7 for connector pinout Table 1 Front Panel Connectors 2 1 2 Motion Control Interfaces 2 Note The AB5 AB51 driver can receive the input signals either from a motion controller or from a joystick The schematic diagrams of the motion controller and joystick connections to the AB5 AB51 driver are provided in following sections n motor may be operated from the Terminal block using the following signals 24 GND Vin Vin Enable Nanomotion Ltd 15 AB5 AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 2 1 Analog Controller Connection There are two options of an analog connection of a motion controller to the AB5 AB51 driver e Differential connection see Figure 3 e Single Ended Non differential Connection see Figure 4 The differential connection enhances noise immunity AB5 AB51 DC power supply Twisted and shielded cable 3 Fault 24 Enable Figure 3 Differential Analog Input Connection Nanomotion Lid 16 AB5 AB51 Drivers User Manual Connecting the AB5 AB51 Driver AB5 AB51 DC power supply Twisted and shielded cable Vout Vout or Gnd 24 Figure 4 Single ended non differential Analog Input Connection Nanomotion Ltd 17 AB5 AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 2 2 Joystick Connection Using the joystick for supplying the command vol
16. WV nanonorion A Johnson Electric Company 5 and AB51 Drivers User Manual LUT NANOMOTION ita 5 DRIVER BOX D N 05458200 02 REV A February 2011 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 AB5 AB51 Drivers User Manual Copyright 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 2004 2012 Yokneam Israel All rights reserved All products and company names are trademarks or registered trademarks of their respective holders Nanomotion Ltd 2 AB5 and AB51 Drivers User Manual Limited Warranty 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 consumab
17. alculating the heating cooling profile of the motor This feed forward algorithm is accurate subject to the ambient temperature input the proper installation of the motor and ONLY AFTER motor s conditioning refer to chapter 4 5 3 2 TP Configurations Nanomotion Ltd The TP option is available in the following configurations HR or ST motors 25 C or 50 C ambient temperature 25 vacuum environment The AB5 AB51 driver is factory preset to either HR or ST motors permanent Switch 2 configuration according to the motor type to be driven In addition each AB5 AB51 driver Nanomotion delivers is preset to a standard 25 C ambient air environment with the TP feature turned on 33 AB5 51 Drivers User Manual Technical Data To provide application flexibility for the end user s technical requirements an authorized service technician is able to open the driver box and change the temperature and environmental configurations or to disable the TP feature completely using the DIP Switch Position Map The DIP Switch Position Map appears in section 5 3 4 The Thermal Protection feature has been implemented as a standard feature in every AB5 and AB51 drivers since March 30 2007 5 3 3 Benefits of Thermal Protection The optional TP feature can be beneficial to the application preventing the motor from overheating A few examples are A good precaution in first time integration and assembly
18. ction of the bearing structure will increase This may require changing the system operation point on the thermal EOP curves 5 2 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 5 2 3 EOP for Motors Driven by AB5 AB51 Drivers Nanomotion Ltd The 5 AB51 drivers are preferable for a perfect servo tracking and or very low ripple constant velocity Refer to the AB5 and AB51 Drivers User Manual D N AB05458200 The AB5 unique features result in the motor consuming more power and in a lower EOP compared to the EOP for a motor operating with the driver The AB51 driver is a modified version of the AB5 driver which gives a higher EOP compared to the AB5 driver with some adverse effect on control performance in respect to tracking error and low velocity ripple 28 AB5 and AB51 Drivers User Manual Technical Data Figure 6 illustrates motor velocity as a function of the applied AB5 AB51 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 9 9 150 E amp 100 D S 50 gt 0 4 5 6 Command
19. etween the excitations determines the direction and velocity of the motion When the up and down directions are activated with equal excitation the stage does not move and the effect is of reduced friction By gradually increasing the difference between the up and down excitations the motor begins driving the stage smoothly and continuously Increasing the difference will increase the velocity Thus a linear response is achieved with no apparent Dead Zone The linear feature is achieved by an effective higher excitation of the motor causing a higher operating temperature The higher temperature is permitted as long as the user adheres to the stiffness requirements and the EOP outlined in section 5 2 in this manual discas To prevent minor electric shock hazard the ground screw located on the bottom left of the front panel must be connected to the infrastructure earth Nanomotion Ltd 13 AB5 AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 Connecting the AB5 AB51 Driver For connecting the driver to the system refer to Figure 3 Differential Analog Input Connection or Figure 4 Single ended non differential Analog Input Connection 2 1 Quick Instructions for Connecting the Driver For connections refer to Figure 2 below Figure 2 AB5 Driver Front Panel 1 Connect motor s cable for details refer to section 2 1 3 to driver s Motor connector refer to Table 1 2 Connect the 25 pins flat cable
20. hat the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures 1 1 General The AB5 is a single axis amplifier box for driving Nanomotion Piezo Ceramic motors The AB5 amplifier box interfaces between the input command from a controller or joystick to the motor and drives the Piezo motor It facilitates a linear response of the motor and eliminates the dead zone previously associated with Piezo Ceramic motor operation The AB5 amplifier box consists of three main cards The Logic and Driver cards are common to all AB5 configurations while the Personality card is configuration specific and can be replaced by an authorized technician to drive a different motor in the HR family Figure 1 AB5 Driver Box Nanomotion Ltd 11 AB5 and AB51 Drivers User Manual Introduction An additional related model is the AB51 driver built identically to the AB5 but carrying a different firmware The AB51 is designed to have a minimal controlled Dead Zone which is beneficial in Z applications or in repetitive Start Stop mode of operation The AB51 feeds less driving power into the motor at low commands thus facilitating the controlled Dead Zone mentioned above while maintaining the motor at a lower operating temperature The AB51 driver should be chosen in general applications unless a perfect servo tracking or very low ripple constant velocity is needed where AB5 is
21. in eae 27 Nanomotion Ltd 7 5 and AB51 Drivers User Manual Table of Contents 5 2 2 Stage Heat Dissipation Consideration 28 5 2 3 EOP for HR Motors Driven by 5 AB51 28 53 TPibhhermal oom o e ite edens 32 5871 EM 32 532 FP Configuration 33 5 3 3 Benefits of Thermal Protection 20202 34 5 3 4 TP Feature 35 5 3 5 NM 37 5 4 Front Panel Connectors and 39 5 4 1 Front Panel re eret xe ene diee 39 DA IE T 39 5 4 3 Control Terminal Block 40 5 4 4 Motor Output Port PITOUEL e EE 40 5 4 5 I O Port Connector Pinout at cot E p Sean 41 ONGMEND GO Co A 42 5 5 1 Opto isolated Inputs seo mto o e e er abite eade 42 5 5 2 Voltage Source 4444400 43 5 5 3 Fault Output ro rnt ade 43 e pe pb etu
22. le 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 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 1 NM has the opportunity to investigate the reported defect and to determine 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 accorda
23. mately one hour into the conditioning process 8 Atthe end of the conditioning procedure wipe the drive strip with IPA without retracting the motor s fingers 9 Run the motor for 10 min as IPA may leave some residual hydro carbons on the surface that affects performance 10 The motor is now ready for operation Nanomotion Ltd 25 AB5 and AB51 Drivers User Manual 5 Technical Data 5 1 Specifications Electrical Specifications Power Input Current Consumption Consumption w o Load Power Consumption w o Load Recommended Power Supplies Supply Voltage Maximum Current 1A 2A 24 596 AA 8A Physical Properties Weight 450g Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 Analog Input Specifications Input voltage range 10V Input impedance 10kQ Input low pass filter Table 2 AB5 AB51 Driver Specifications Ex x is the number of elements Nanomotion Ltd 24 5 stabilized 100 mA 24 2 4W 2 7 kHz Technical Data Applicable for E 1 to E4 E8 E16 E32 26 AB5 and 51 Drivers User Manual Technical Data 5 2 Thermal Envelope of Performance EOP 5 2 1 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 mechanis
24. ms 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 graphs and tables in section 5 2 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 Nanomotion Ltd 27 AB5 51 Drivers User Manual Technical Data Notes n The duty cycle is the ratio of the operation time and the total work cycle operation time idle time n When operating the motor with the AB5 AB51 ariver continuously in Brake Off Mode refer to section 5 2 3 EOP for HR Motors Driven by AB5 AB51 Driver the motor consumes power at all times even when the control command voltage is 0 zero thus the time at 0 command is accounted in the heating process and reduces the thermal EOP n Upon operating a motion system in vacuum it is expected that the Coefficient of Fri
25. nce 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 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 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 GB2008000004178 pending GB2009000003796 pending 12 398 216 pending GB2446428 12 517 261 pending 08702695 1 pending 10 200
26. nput Safety shut down see section 5 5 1 User Voltage Input External power supply for the opto isolated type inputs V In Neg Input 0 to 10Vdc Analog control GND Ground Step Mode Input Step mode selection Brake On Input Disables driver operation SPI Clock Disabled Set Offset Input Read command and remember as offset Enable Sign In Input When shorted to ground the Enable input is active high Otherwise Enable is active low N C Not used Set Com 2 Disabled 10V Output 10V supply for external device Joystick Enable Input Must be activated to enable driver operation N C Not used Nanomotion Ltd Table 8 Port Connector Pinout 41 AB5 and 51 Drivers User Manual Technical Data 5 5 5 5 1 Opto isolated Inputs The following inputs are opto isolated and are active low i e by shorting them to ground see Table 8 for more details Emergency Stop disables driver s output Enable Sign In changes Enable input logic to active high Enable enables driver operation should be activated before operating the motor Step Mode enables Step mode operation Brake On disables driver s output Set Offset adjust 0 zero command level Jumper 3 User Voltage To Control Logic Command Input AB5 AB51 Figure 12 Opto Isolated Input Interface Nanomotion Ltd 42 AB5 and AB51 Drivers User Manual Technical Data 5 5 2 Voltage Source Configurati
27. on Awarnine Only a qualified service technician is authorized to change jumpers configuration Do not short other pins on JP2 Doing so shorts the external power supply to 3 3V The input circuit is limited to sink up to 10 mA but not less than 3 mA The opto isolated input signals see section 5 5 are activated as short to ground The voltage for the opto isolated circuit see Figure 12 is provided by either internal 3 3V supply default state or an external voltage supply via pin 13 of the I O port connector The input to be activated should be shorted to the external voltage supply ground Configure jumper JP2 on the top AB5 AB51 card according to the voltage source Pin 1 shorted to Pin 2 for an internal 3 3V source default factory setting e Pin 3 shorted to Pin 4 for an external voltage source from 3 3V to 5V 3 1 42 42 Connection for Connection for Internal Source External Source Figure 13 Jumper 2 Configuration 5 5 3 Fault Output Nanomotion Ltd 43 AB5 and 51 Drivers User Manual Technical Data Nanomotion Ltd The Fault output indicates either driver s over voltage or TP violation When active low it disables the driver due to this fault The fault output provides an open collector interface and needs to be pulled up by the user The maximum allowed current through the open collector transistor is 50 The appropriate pull up resistors should be used
28. preferable 1 2 Main Features e High precision 11 bits control of the output power stage Zero Dead Band in AB5 and minimal Dead Band in AB51 e Drives up to four HR8 motors e Four operation modes Velocity Step and Brake On Off e Interface to an analog command e Modular design to allow replacement of configuration specific Personality cards Discrete inputs enabling feedback from external sources such as limit switches Emergency Stop command etc e Three color LED indicators Over Current Over Voltage and motor interlock protections Minimized sensitivity to cable length e User defined Enable input logic e Thermal Protection mechanism Nanomotion Ltd 12 AB5 51 Drivers User Manual Introduction 1 3 AB5 Operating Principle The force transfer of the Nanomotion motor is based on friction of the motor s elements and the drive strip This drive mechanism has many advantages like high precision zero backlash inherent brake and more Nevertheless it poses a control challenge at low command due to non linearity an effect known in Nanomotion User Manuals as the Dead Zone The AB5 driver is designed to eliminate the Dead Zone and to facilitate a linear response from 0 zero command level This design allows easily controlling the driver by off the shelf servo controllers The linear response is achieved by the dual excitation of the up down direction of the motor The difference b
29. r d uxo duet eaten Eu pete ces ub orn 45 6 PART NUMBERING 46 7 47 7 1 Customer SSP VICE 47 7 2 General Inquiries and 47 Nanomotion Ltd 8 AB5 and AB51 Drivers User Manual Lists of Figures and Tables List of Figures ABS Driver BOX EP a E ER nd e 11 Figure 2 AB5 Driver Front Palriel uoc ee rure err eterna emt Pe CR PUN sega 14 Figure 3 Differential Analog Input 16 Figure 4 Single ended non differential Analog Input 17 Figure 5 Joystick GOnneclloh cote te e ngu d Rte ee ened aed ae 18 Figure 6 Velocity vs Command Using the AB5 AB51 29 Figure 7 Force vs Velocity Using the AB5 AB51 Driver at the Various Work Regimes CE DOT 30 Figure 8 TP Mechanism Block cotone tt ete roe t lutte ee Le d ate dea botes 35 Figure 9 DIP Switch Location inside the AB5 AB51 Driver Box 35 Figure 10 DIP Switch Position Map rte t etr titer 36 Figure 11 Thermal Protection 38 Figure 12 Opto Isolated Input 88 4
30. t at techsupport nanomotion com with detailed problem description additions corrections or suggestions 7 2 General Inquiries and Ordering e Outside the USA Nanomotion Ltd Headquarters Nanomotion Ltd PO Box 223 Yokneam Israel 20692 Tel 972 73 2498065 Fax 972 73 2498099 Web site www nanomotion com Email nano nanomotion com e Inthe USA Nanomotion Inc US Headquarters Nanomotion Inc 1 Comac Loop Ste 14B2 Ronkonkoma NY 11779 Tel 800 821 6266 Fax 631 585 1947 Web site www nanomotion com Email nanous nanomotion com Nanomotion Ltd 47
31. tage to the AB5 AB51 driver allows the user to manually drive the motor without using a motion controller AB5 AB51 Figure 5 Joystick Connection Nanomotion Ltd 18 AB5 AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 1 3 Motor Cable Connections Nanomotion guarantees proper driver and motor performance only when Nanomotion standard cables are used e The Motor Connected interlock is available on motor connector see Table 7 It disables high voltage on the bare driver output connector when the motor is not connected e f more than one motor is connected to the AB5 AB51 use a suitable branch cable Branching is possible for two and four identical motors Versions are available for motors operating either side by side or head to head e The allowed maximum total motor cable length connecting the AB5 AB51 driver to the motor s is up to 10 meters for the HR or ST motor types and up to 20 meters for the vacuum motors Branch cables must be of an identical length Their total length should not exceed the allowed total cable length Nanomotion Ltd 19 AB5 AB51 Drivers User Manual Connecting the AB5 AB51 Driver 2 2 Before Operating the Motor Before operating the AB5 AB51 verify the following All motors are properly mounted and preloaded e Jumper JP2 is set to the required mode of operation accessible only by an authorized service technician see section 5 5 2 for more details
32. to driver s port connector for details refer to section 2 1 1 for analog or Joystick connection for details refer to section 2 1 2 3 Connect the power supply wires to driver s Terminal block for details refer to section 2 1 1 4 Plug in the terminal cable to the driver s mating connector 5 Read the instructions in section 2 2 before operating the motor 6 Turn the power on and continue to Chapter 3 for Driver Operation Nanomotion Ltd 14 AB5 and 51 Drivers User Manual 2 1 1 Connecting the AB5 AB51 Driver Wires and Connectors e Power supply use 22 AWG or lower AWG wires for the power supply For noisy surroundings it is recommended to twist the ground line and the power line together 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 Connector Description Control 5 pin connector Receives 24V from an external source terminal and provides direct control over the motor ENABLE signal and the analog control signal Vin and or Vin Mating connector is by Wieland P N 25 621 0553 0 See Table 6 for connector pinout Port 25 pins D type female connector Interfaces to the control Connector source joystick or controller See Table 8 for connector pinout Motor 9 pins D type male connector Interfaces to the motor Output
33. tors must be performed after initial assembly and before motor tuning In addition the conditioning should be performed any time a motor has been dismounted and remounted or its pre load released Nanomotion Ltd 24 AB5 AB51 Drivers User Manual Motor Conditioning Using the AB5 AB51 Driver Limit the command to 5V and use the on Position Error option of the controller in order to protect the motor during initial integration and conditioning Do not perform the conditioning procedure in vacuum environment This procedure must be performed in ambient air conditions only To perform the conditioning procedure follow the steps below 1 Set the conditioning procedure to cover the whole expected operated travel of the Ceramic Driving Strip Run the stage repetitively from end to end in closed loop Profile Velocity 100 mm sec acceleration Deceleration 0 1 to 1m s The AB5 AB51 should be disabled during the dwell time Duty cycle 25 This means that the dwell time AB5 AB51 disabled should be three times longer than the move time AB5 AB51 enabled p eo de 6 Conditioning duration e 8 hours for all HR and ST series motors e 16 hours for all DuraMotor series motors e 1810 20 hours for applications which use Ceramic Coated Strips CCS 7 Wipe the Ceramic driving Strip surface with IPA analytically pure grade isopropyl alcohol without retracting the motor s fingers approxi
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