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AB5 and AB51 Drivers User Manual  

 

Copyright  

Nanomotion Ltd. 

 

2 

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. 

 

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for AB51

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...td POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com AB5 and AB51 Drivers User Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ... 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 trademar...

Page 4: ... 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 pro...

Page 5: ... Ltd 4 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 6: ...07 Added T P 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 0863 02 B April 2015 Added max motor output voltage to environmental list on page 27 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 7: ... 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 8: ...AB5 and AB51 Drivers User Manual Revision History Nanomotion Ltd 7 This page is left blank intentionally Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 9: ...ons 20 2 2 Before Operating the Motor 21 3 AB5 AB51 OPERATING 22 3 1 Operation Modes 22 3 1 1 Velocity Mode Operation 22 3 1 2 Step Mode Operation 22 3 1 3 Brake_On Mode 23 3 2 Set_Offset Procedure 23 3 2 1 Description 23 3 2 2 Setting the Offset 24 4 MOTOR CONDITIONING USING THE AB5 AB51 DRIVER 25 4 1 Introduction 25 4 2 The Conditioning Procedure 25 5 TECHNICAL DATA 27 5 1 Specifications 27 5 2 ...

Page 10: ... 5 4 Front Panel Connectors and Indicators 40 5 4 1 Front Panel Description 40 5 4 2 LED Indicators 40 5 4 3 Control Terminal Block Pinout 41 5 4 4 Motor Output Port Pinout 41 5 4 5 I O Port Connector Pinout 42 5 5 I Os 43 5 5 1 Opto isolated Inputs 43 5 5 2 Voltage Source Configuration 44 5 5 3 Fault Output 45 5 6 AB5 AB51 Layout 46 6 PART NUMBERING METHODOLOGY 47 7 CONTACT INFORMATION 48 7 1 Cus...

Page 11: ...cation inside the AB5 AB51 Driver Box 36 Figure 10 DIP Switch Position Map 37 Figure 11 Thermal Protection Sequence 39 Figure 12 Opto Isolated Input Interface 43 Figure 13 Jumper 2 Configuration 44 Figure 14 Layout and Mechanical Dimensions 46 List of Tables Table 1 Front Panel Connectors 16 Table 2 AB5 AB51 Driver Specifications 27 Table 3 EOP Table for HR Motors Driven by AB5 Standard LUT 31 Tab...

Page 12: ...re 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 13: ...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 configuratio...

Page 14: ...o tracking or very low ripple constant velocity is needed where AB5 is preferable Main Features 1 2 High precision 11 bits control of the output power stage Zero Dead Band in AB5 and minimal Dead Band in AB51 Drives up to four HR8 motors Four operation modes Velocity Step and Brake On Off Interface to an analog command Modular design to allow replacement of configuration specific Personality cards...

Page 15: ...e 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 r...

Page 16: ... details refer to section 2 1 3 to driver s Motor connector refer to Table 1 2 Connect the 25 pins flat cable to driver s I O 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 connecto...

Page 17: ...l Vin and or Vin Mating connector is by Wieland P N 25 621 0553 0 See Table 6 for connector pinout I O Port Connector 25 pins D type female connector Interfaces to the control source joystick or controller See Table 8 for connector pinout Motor Output Port 9 pins D type male connector Interfaces to the motor See Table 7 for connector pinout Table 1 Front Panel Connectors Motion Control Interfaces ...

Page 18: ...erential Connection see Figure 4 The differential connection enhances noise immunity AB5 AB51 D Type 25 Pin 24 Enable 1 24V 2 Gnd 7 Gnd 6 Motor_Connected 1 Gnd 5 Down 4 Com 3 Up 1 Vin 14 Vin 3 Fault Terminal block 5 Pin D Type 9 Pin Controller Enable Status Shield Vout Vout Twisted and shielded cable DC power supply Gnd 2 Gnd Motor Figure 3 Differential Analog Input Connection Artisan Technology G...

Page 19: ...9 Gnd 2 Gnd 3 Fault 24 Enable D Type 25 Pin Terminal block 5 Pin D Type 9 Pin Controller Enable Status Shield Vout or Gnd Vout Twisted and shielded cable DC power supply 6 Motor_Connected Motor Figure 4 Single ended non differential Analog Input Connection Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 20: ... drive the motor without using a motion controller AB5 AB51 1 24V 2 Gnd 7 Gnd 1 Gnd 5 Down 4 Com 3 Up 1 Vin 14 Vin 11 12V 9 Gnd D Type 25 Pin Terminal block 5 Pin D Type 9 Pin Joystick Shield 10V Vout Twisted and shielded cable DC power supply 23 10V 2 Gnd 10V 24 Enable 6 Motor_Connected Motor Figure 5 Joystick Connection Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE ww...

Page 21: ...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 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 cabl...

Page 22: ...service technician see section 5 5 2 for more details Mechanical screws lock all connectors The external power supply is capable of supplying the required power consumption of the AB5 AB51 see Table 7 There is no command when turning the power on WARNING The driver must be grounded to infrastructure earth before operating CAUTION The command should be limited according to the motor EOP see section...

Page 23: ... force Velocity Mode Operation 3 1 1 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 Step Mode Operation 3 1 2 In this operation mode the driver output to the motor is turned on and off for fixed time intervals defined in the hardware as f...

Page 24: ...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 Set_Offset Procedure 3 2 Description 3 2 1 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...

Page 25: ...e moves 3 Adjust the command voltage level until the slide movement stops 4 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 5 Apply 0 command level and verify that the slide is motionless Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Page 26: ...ry 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 The Conditioning Procedure 4 2 IMPORTANT The conditioning of all Nanomotion mot...

Page 27: ... AB5 AB51 should be disabled during the dwell time 5 Duty cycle 25 This means that the dwell time AB5 AB51 disabled should be three times longer than the move time AB5 AB51 enabled 6 Conditioning duration 8 hours for all HR and ST series motors 16 hours for all DuraMotor series motors 18 to 20 hours for applications which use Ceramic Coated Strips CCS 7 Wipe the Ceramic driving Strip surface with ...

Page 28: ... Load E1 one element E32 32 elements Number of elements No load 100ma E1 to E4 1A E8 2A E16 4A E32 8A Physical Properties Weight 450g Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Analog Input Specifications Input voltage range 10V Input impedance 10kΩ Input low pass filter 2 7 kHz Table 2 AB5 AB51 Driver Specifications Artisan Technology Group Quality...

Page 29: ...nerated 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 peri...

Page 30: ...or 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 EOP for HR Motors Driven by AB5 AB51 Drivers 5 2 3 The AB5 AB51 drivers are preferable for a perfect servo tr...

Page 31: ...nce and as a guideline for expected motor performance 0 50 100 150 200 250 300 0 1 2 3 4 5 6 7 8 9 10 Velocity mm sec Command V Figure 6 Velocity vs Command Using the AB5 AB51 Driver Figure 7 and Table 3 are designed to help the user determining the correct envelope of performance and avoid overheating and damaging the motor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 32: ... Various Work Regimes a h AB5 Curve Air 25 C Vacuum Duty Cycle Brake_ Off Duty Cycle Brake_On Continues Operation sec Duty Cycle Brake_On Continues Operation sec 0 a 100 100 28 230 b 100 100 23 210 c 100 100 19 150 d 100 100 14 110 e 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 AB5 Standard LUT Artisan Technology Group Quality Instr...

Page 33: ...ge 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 Ti...

Page 34: ... the EOP for AB5 Driver in 5 2 3 2 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 0 a see Table 3 for time at 0 command and the operation curve for the operating time according to the following formula Tmax max continues operation at the oper...

Page 35: ...te subject to the ambient temperature input the proper installation of the motor and ONLY AFTER motor s conditioning refer to chapter 4 TP Configurations 5 3 2 The TP option is available in the following configurations HR or ST motors 25 C or 50 C ambient temperature 25 C vacuum environment The AB5 AB51 driver is factory preset to either HR or ST motors a permanent DIP Switch 2 configuration accor...

Page 36: ...eature has been implemented as a standard feature in every AB5 and AB51 drivers since March 30 2007 Benefits of Thermal Protection 5 3 3 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 of a system Demanding applications that operate in high duty cycle Joystick operation in...

Page 37: ... 4 Figure 8 TP Mechanism Block Diagram Figure 9 DIP Switch Location inside the AB5 AB51 Driver Box TP Card Nanomotion Driver Core Enable Fault output Motor AB5 AB51 Driver EOP Air EOP Vacuum DIP Switch config Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 38: ...AB5 and AB51 Drivers User Manual Technical Data Nanomotion Ltd 37 Figure 10 DIP Switch Position Map Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 39: ...TP LED is constantly on and so is the Fault output pin 3 The driver remains disabled until motor temperature drops to 85 C natural cooling 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 No...

Page 40: ...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 Figure 11 Thermal Protection Sequence Driver is disabled Motor Calculated Temperature C Time 100 85 Fault Signal is on and off at 2Hz...

Page 41: ...r Enable TP LED indicators Ground screw LED Indicators 5 4 2 LED Indicator Condition TP Enable Power Off Off Off 24V power supply not connected Off Off Green 24V power supply is connected Off Orange Green Motor_Connected and Disabled Off Green Green Motor Enabled Red Red Green Over voltage fault Blink Red Green Green Warning zone temperature Red Orange Green Over temperature Table 5 Front Panel LE...

Page 42: ...in 6 in order to verify the motor connection and to prevent driver operation without the motor 2 N C Not used 3 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 mo...

Page 43: ...ge Input External power supply for the opto isolated type inputs 14 V_In_Neg Input 0 to 10Vdc Analog control 15 GND Ground 16 Step_Mode Input Step mode selection 17 Brake_On Input Disables driver operation 18 SPI_Clock Disabled 19 Set_Offset Input Read command and remember as offset 20 Enable_Sign_In Input When shorted to ground the Enable input is active high Otherwise Enable is active low 21 N C...

Page 44: ...ut 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 Figure 12 Opto Isolated Input Interface To Control Logic Vcc AB5 AB51 390Ω Jumper 3 1 Vcc User Voltage Command Input Artisan Technology Group Quality ...

Page 45: ... 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 Pin 3 shorted to P...

Page 46: ...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 50mA The appropriate pull up resistors should be used to avoid overloading this output Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 47: ...r Manual Technical Data Nanomotion Ltd 46 AB5 AB51 Layout 5 6 Figure 14 Layout and Mechanical Dimensions Note All Dimensions are in mm Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 48: ...Protection follow this methodology Driver Motor Type of Elements Temperature Environment AB5 HR EXX 25 V AB51 ST EXX 50 A Notes Motor type includes DuraMotor series XX represents number of motor elements ranging from 1 to 32 V Vacuum environment A Ambient air environment Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 49: ... General Inquiries and Ordering 7 2 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 In the 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 nanomot...

Page 50: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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