XCD-HR Controller/Driver User Manual
Contents
1. 31 B Incremental signals 32 INDEX Encoder Reference mark Negative Signal 33 GND System ground 34 GND System ground Document no XCDH458002 00 rev A 14 User Guide XCD HR Controller Drivers XCD HR8 HR16 Power Connector The power connector is mounted on the top J4 or bottom J6 of the board depending on the intended interface J4 Assembly Part No Assembly Part No XCD0150802 XCD0150803 XCD0150162 XCD0150163 Power Plugs on XCD HR8 and XCD HR16 Boards Power Connector J4 Standalone Configuration Pin Name Function 1 24VDC 2 24VDG Power Input Max power consumption 120W 3 8 NC Reserved for future use 9 GND 10 GND System ground Power Connector J6 Motherboard Configuration Pin Name Function 1 GND gt GND System ground 3 8 NC Reserved for future use 9 24VDC l Power Input Max power consumption 120W 10 24VDC XCD HR Controller Driver Interface Document no XCDH458002 00 rev A 152. e Input power supply voltage e XCD HR1 2 4 12V DC 15 e XCD HR4 8 24 VDC e Maximum power consumption Controller Driver Max power consumption XCD HR 1 7 5W XCD HR 2 15W XCD HR 4 30W XCD HR 8 60W XCD HR 16 120W Operating Temperature 0 C to 50 C Storage Temperature 40 c to 50 c Document no XCDH458002 00 rev A 8 Technical Data User Guide XCD HR Controller Drivers E su s awg pueoqiayjow e yno pue Joao ESA urey ay ybnoly sao6 eubis mdu Bojeuy geen Leapee yed ejaydiag ha fie sodi J9 ONUOD p ZHH AOX out JO Ped oe a 1 g gt gen puaBa7 Lo gt WS SEU YOOPS U JOJO jesayduag jeuas Joy Del uOHeIIUNWWOD euas J9M9ISUBJ ETSY e J gt UONEDIUNWUOS cecSy jeuas Japos9u3 JOHSAUOD 90 01 90 EM eens ema The XCD HR Controller Driver Block Diagram Document no XCDH458002 00 rev A User Guide XCD HR Controller Drivers XCD HR Controller Driver Interface 4 XCD HR Controller Driver Interface This section provides the required information for interfacing with any of the XCD HR Controller Driver 4 1 Functional Interface Controlling the HR Motor through one of the XCD HR Controller Driver using the XCD HR Motherboard ting an HR1 2 4 motor requires a setup consisting of the following components e A host PC running the XCD Commander application This application is developed especially for
3. Nanomotion HR motors HR1 HR2 HR4 HR8 HR16 The XCD HR Controller Drivers can be installed on a Nanomotion motherboard part number XCDH150100 or completely within a customer developed system All XCD HR Controller Drivers are factory programmed with a NM proprietary XCD Motion Script XMS program With the XMS the user can define a complex sequence of motions along with sophisticated calculations and execution control The user can store a preprogrammed XMS program in the controller s flash memory and execute it at power up For information about the XMS program and scripts refer to the latest XCD FW user manual The XCD HR famile of controller drivers supports the following main features e Motor Interlock mechanism e RS232 serial communication e Limit Switch e 4 GPIO lines e 3 Anlog inputs e Emergency Stop input signal Configurations The XCD HR Controller Drivers are available in two configurations The standard configuration is designed for use with the Nanomotion motherboard part number XCDH150100 The second configuration is designed for use in the Nanomotion XCD 4X Controller Driver box Standard XCD 4X Box XCD HR1 BD 04 XCD0150103 XCD HR2 BD 04 XCD0150203 XCD HR4 BD 04 XCD0150403 XCD HR8 BD 04 XCD0150803 XCD HR16 BD 04 XCD0150163 Document no XCDH458002 00 rev A 7 User Guide XCD HR Controller Drivers Technical Data 3 Technical Data Dimensions 52mmx70mmx13mm Electrical
4. evaluation and development purposes e An XCD HR Motherboard either the XCD HR Motherboard P N XCDH150100 or a user customized motherboard that meets the interface requirements as specified in section 0 e An XCD HR Controller Driver e A single axis NM stage or user customized power stage with mounted HR1 24 motor e ADC power supply 12 VDC for XCD HR1 2 4 24VDC for XCD HR8 16 4 2 Mechanical Interface The XCD HR Controller Drivers have two connector configurations e Standard configuration designed for use with the XCD HR Motherboard part number XCDH150100 or customer designed interface e XCD 4X configuration designed for use with the XCD 4X Controller Driver box The drawings below do not show all the power supply connector for the XCD HR8 and XCD HR16 The external dimensions for the two configurations is the same Document no XCDH458002 00 rev A 10 User Guide XCD HR Controller Drivers XCD HR Controller Driver Interface XCD HR Controller Driver Card Side View Dimension Standard XCD 4X Box in mm A B XCD HR1 BD 04 XCD0150103 18 20 54 XCD HR2 BD 04 XCD0150203 18 20 54 XCD HR4 BD 04 XCD0150403 18 20 54 XCD HR8 BD 04 XCD0150803 28 63 24 82 XCD HR16 BD 04 XCD0150163 28 63 24 82 16 48 72 e 55 70 12 65 52 42 70 XCD HR Controller Driver Card Top View all dimensions are in mm Note Install the XCD HR Contr
5. SU TV imawomor ow A Johnson Electric Company User Guide XCD HR Controller Drivers Document no XCDH458002 00 rev A April 2014 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 User Guide XCD HR Controller Drivers Copyright Notice Copyright O 2011 by Nanomotion Ltd All rights reserved worldwide No part of this publication may be reproduced modified transmitted transcribed stored in retrieval system or translated into any human or computer language in any form or by any means electronic mechanical magnetic chemical manual or otherwise without the express written permission of Nanomotion Ltd Mordot HaCarmel Industrial Park Yokneam 20692 Israel This document contains proprietary information and shall be respected as a proprietary document with permission for review and usage given only to the rightful owner of the equipment to which this document is associated 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 remai
6. bout this Guide 1 1 Scope This user guide provides the required information for interfacing with the XCD HR family of Controller Drivers These include e XCD HR1 e XCD HR2 e XCD HR4 e XCD HR8 e XCD HR16 1 2 Intended Users This user guide is intended for engineers or technicians directly involved in installation operation and maintenance of positioning systems and control systems Use the XCD HR1 HR2 or HR4 Controller Driver only for the purposes and tasks described in this manual or in related documentation Always perform tasks according to the instructions provided in the documentation 13 Reference Documentation e XCD Software User Manual same version as FW installed on card e XCD HR Motherboard User Guide D N XCDH458001 e HR 1 Motor User Manuals D N MSP1458000 e HR 2 Motor User Manuals DIN MSP2458000 e HR 4 Motor User Manuals D N MSP4458000 e HR 8 Motor User Manuals D N MSP8458000 e FB Positioning Systems User Guide DN Safety Electrical Shock Hazard The XCD HR Controller Drivers have high voltage that is a personnel safety hazard Document no XCDH458002 00 rev A 6 User Guide XCD HR Controller Drivers Overview 2 Overview The XCD HR family of Controller Drivers are single axis compact motion controllers operating in a linear drive mode The controller driver provides positioning control for one axis with configurable motion profile and servo parameters They are designed to control
7. ct your local distributor or email Nanomotion Ltd Technical Support Department at techsupport nanomotion com with detailed problem description additions corrections or suggestions Nanomotion Ltd Worldwide Headquarters Mordot HaCarmel Industrial Park HaYetsira Street PO Box 623 Yokneam 20692 Tel 972 73 249 8000 Fax 972 73 249 8099 Email nano nanomotion com Nanomotion Inc US Headquarters 1 Comac Loop Suite 14B2 Ronkonkoma NY 11779 Tel 1 800 8216266 Fax 1 631 5851947 Email nanoUS nanomotion com Document no XCDH458002 00 rev A User Guide XCD HR Controller Drivers Revision History ECO Revisio Release Details n date EC 727 Revised XCD0458000 00 by incorporating XCD HR8 and XC HR16 boards in the document and changing the title and doc number 00 A Document no XCDH458002 00 rev A User Guide XCD HR Controller Drivers Table of Contents 1 ADOUTTAIS GUIA di 6 1 1 SCOPE e dd 6 1 2 Intended Us erstes daa 6 1 3 Reference Documentation 6 2 DOUE aia 7 3 Technical Data oooccconnnonnncnncnancnnnenanenane cane nnnrnnr nan enn 8 4 XCD HR Controller Driver Interface oocooocconcccnccnnncnancnanenanenanenanonanonanenannnannnnnnns 10 4 1 Functional Interface ocios tal 10 4 2 Mechanicaliinterace a id eo ado e 6d 10 4 3 Electrical Interface viii ti e eu 12 Document no XCDH458002 00 rev A User Guide XCD HR Controller Drivers About this Guide 1 A
8. e 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 Document no XCDH458002 00 rev A User Guide XCD HR Controller Drivers Patent Information One or more of the patents listed in the following table may apply to Nanomotion products 5 453 653 5 616 980 5 714 833 111597 5 640 063 6 247 338 6 244 076 747 391 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 2009 701 7629 pending 12 524 164 pending 12 581 194 pending Contact Information Website www nanomotion com Customer Service Conta
9. n 7 RXD RS232 Receive The controller receives 8 TXD RS232 Transmit commands from the host and sends back the replies 9 GND System ground 10 GND System ground 11 SDA 12C Serial data The controller receives 12 SCL 12C Serial clock commands from the host and sends back the replies 13 100 General Purpose Digital Voltage level CMOS 3 3V Input 1 The customer defines UO 14 10 1 Not connected processing in XMS 15 10 2 General Purpose Digital Output 3 16 10 3 General Purpose Digital Output 4 17 AINO Analog Input 1 V range 0V 3 3V 18 AIN1 Analog Input 2 The customer defines input processing in XMS 19 AOUTO Analog Ouput 1 V range 0V 3 3V The output level is defined by monitoring function or by XMS Document no XCDH458002 00 rev A 13 User Guide XCD HR Controller Drivers XCD HR Controller Driver Interface Motherboard Connector J3 Pin Name Function Comments script variable AOUTO 20 AIN2 Analog Input 3 V range 0V 3 3V The customer defines input 21 AOUT1 Analog Ouput 2 Function monitoring 22 EMERG Emergency Stop CMOS 3 3V 23 5V 5Vdc Power out 200 mA max 24 PWM_OUT Keep alive For testing puposes 25 A Incremental signals CMOS 3 3V 26 LS Left Limit switch left CMOS 3 3V 27 A Encoder incremental CMOS 3 3V signals 28 LS Right Limit switch right CMOS 3 3V 29 B Encoder Incremental signals 30 INDEX Encoder Reference Mark Positive Signal
10. ning 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 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 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 th
11. oller Driver card using two 2 5X10 spacers and two M2 5 mounting screws to be inserted in the card mounting holes marked in red Document no XCDH458002 00 rev A 11 User Guide XCD HR Controller Drivers XCD HR Controller Driver Interface 4 3 Electrical Interface Motor connector em iO A I E 222 420 m 4 4 G ee CN eg e ee e no XCD HR Controller Driver Card Top View Motor Connector P1 Motor Connector P1 Pin Pin Name Function 1 GND System ground 3 Motor_up Connected to the white motor terminal 4 Motor_Common Connected to the black motor terminal 5 Motor_Down Connected to the red motor terminal 6 Motor_Connected Safety input shorted to pin 1 in order to prevent controller driver s operation without the motor 7 Shield Shorted to the shield 2 8 9 N C Not connected Document no XCDH458002 00 rev A 12 User Guide XCD HR Controller Drivers Motherboard Connector J3 Motherboard connector XCD HR Controller Driver Interface XCD HR Controller Driver Card Bottom View Motherboard Connector J3 Pin Name Function Comments 1 12V 12Vdc Power Input Max Not connected on XCD HR8 and 2 12V power consumption 30W XCD HR16 boards 3 SPI_CLK SPI Clock Future option 4 SPI_EN SPI Enable Future option 5 MISO Master In Slave Out 6 MOSI Master Out Slave I
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