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Johnson Electric Nanomotion AB1A, User Manual

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Johnson Electric Nanomotion AB1A User Manual Download Page 24

 

 

 

 

AB1A Operation 

Nanomotion Ltd.   

 

 Page 24 of 29 

4.1.3.1

 

Enabling the Gate Mode 

Enable the Gate mode of operation by shorting pin 21 (see Table 9) to the 
ground. Verify that pin 16 is not shorted to the ground at the same time. Once 
pin 21 is shorted, the driver is in Gate Mode. The TTL signal should now be 
conducted through pin 16. (See also section 

‎4.1.2) 

4.2

 

Using the AB1A to Drive LS Motors 

Under normal conditions, the LS series of motors should not be operated with 
command voltage exceeding 3.5V. To allow some margin in cases, which 
require momentarily use of higher power, the AB1A for the LS series of motors 
is limited to 5V.  

Nanomotion expects that during normal operation, the commanding controller 
should protect the motor, and assumes that in continuous operation the 
command will not exceed 3.5V. The protection scheme is as follows: the torque 
limit at the controller must be set to half of the maximum command voltage (5V), 
and be limited to 5 seconds. The controller RMS torque limit must be set to 35% 
of the full command. 

 

Summary of Contents for Nanomotion AB1A

Page 1: ...D N AB1A458000 00 REV F December 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 AB1A Driver User Manual ...

Page 2: ...tion 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 ...

Page 3: ...s been tested for Electric Safety and Electromagnetic Compatibility and found to be in compliance with the following directives and standards EMC Council Directive 89 336 EEC Safety Council Directive 73 23 EEC EN 55011 1998 A1 1999 EN 61000 6 2 1999 EN 61010 1 1993 A2 1995 ...

Page 4: ...tor Cable Length 16 2 4 1 2 5 Opto isolated Inputs 17 Voltage Source Configuration 18 2 5 1 2 6 Fault Output 19 2 7 Before Operating the Motor 19 3 THERMAL ENVELOPE OF PERFORMANCE EOP 20 3 1 Description 20 3 2 Stage Heat Dissipation Consideration 20 3 3 Thermal EOP for HR Motor Driven by AB1A AB2 AB4 Drivers 21 4 AB1A OPERATION 23 4 1 Operation Modes 23 Velocity Mode Operation 23 4 1 1 Step Mode o...

Page 5: ...igure 7 Opto Isolated Input Interface 17 Figure 8 Jumper 1 Configuration 18 Figure 1 Motor Velocity vs Command 21 Figure 2 Motor Force vs Velocity at the Various Work Regimes a g 22 Figure 9 AB1A Layout 27 List of Tables Table 1 EOP Table for HR Motors Driven by AB1A AB2 AB4 22 Table 1 AB1A Power Consumption 25 Table 2 Electrical Specifications 25 Table 3 Physical dimensions 25 Table 4 Environment...

Page 6: ...Page 6 of 29 List of Abbreviations A Ampere AC Alternating Current DC Direct Current LC Coil Capacitor Resonance Circuit LED Light Emitting Diode mA Milliampere mW Milliwatt TTL Transistor Transistor Logic Vrms Volts Root Mean Square ...

Page 7: ... 1 New mode of operation has been added to the driver Gate Mode for more details see Section 4 1 3 This new feature is available in drivers bearing serial numbers 4800 and forward 2 CE compliance section has been revised Other changes to the manual are primarily editorials aiming to make the manual a more user friendly one ...

Page 8: ...cted either internally to the AB1A Card or externally in a separate LC Box If the LC Card connection is external then it is required to connect an adapter card to the AB1A The adapter card shorts the necessary pins to enable the connection of the external LC Card 1 2 Main Features High precision 11 bits control of the power output stage Drives up to 32 Nanomotion motor elements in parallel Three m...

Page 9: ...C circuit is internal to the AB1A For 32 elements the LC circuit is external to the AB1A LC Box An internal DC to DC converter that is fed from an external 48V power supply supplies the required DC voltages Figure 1 illustrates a typical application of the AB1A Driver Box Figure 1 AB1A Block Diagram The motor has three terminals UP red wire DOWN white wire and COMMON black wire The voltage applied...

Page 10: ...of 29 48v H BRIDGE DIRECTION CONTROL NANOMOTION MOTOR COMMON UP DOWN Common Phase Up Down LC Card AC output that drives the motor AB1A PWM Square wave on the amplifier output Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card ...

Page 11: ...etailed description of the AB1A connectors and indicators is given sections 2 1 1 and 2 1 2 below Front Panel Connectors 2 1 1 Connector Description Control Terminal 5 pin connector that provides input from an external 48VDC power supply 6 5A max Provides direct control of the motor ENABLE signal See also Table 7 Motor Out D type 9 pin connector male Interfaces to the motor See also Table 8 I O Po...

Page 12: ... signals either from a motion controller or from a joystick The schematic diagrams of the motion controller and joystick connections are provided in the following sections NOTE The motor may be operated with minimum control signals applied to the Control Terminal 48V GND POWER VIN VIN ENABLE_IN Differential Analog Connection 2 2 1 There are two options of connecting a motion controller to the AB1A...

Page 13: ... 15 GND Amplifier Circuit LC CIRCUIT D Type 9 pin Male DC DC BLOCK TERMINAL MALE D TYPE 25 PIN FEMALE 2x LEDS 1 2 3 4 5 48V GND ENABLE Vin Vin DC POWER SUPPLY PLANT MODE Vout Vout CONTROLLER STATUS ENABLE Twisted and shielded cable NANOMOTION Motor 3 4 5 1 6 2 7 UP COM DOWN GND M DIS PHASE GND D Type 9 pin Female Shield AB1A Figure 4 Differential Analog Input Connection ...

Page 14: ...mplifier Circuit LC CIRCUIT D Type 9 pin Male DC DC BLOCK TERMINAL MALE D TYPE 25 PIN FEMALE 2x LEDS 1 2 3 4 5 48V GND ENABLE Vin Vin DC POWER SUPPLY PLANT MODE Vout Vout CONTROLLER STATUS ENABLE Twisted and shielded cable NANOMOTION Motor 3 4 5 1 6 2 7 UP COM DOWN GND M DIS PHASE GND D Type 9 pin Female Shield GND 2 AB1A Figure 5 Non Differential single ended Analog Input Connection ...

Page 15: ...Left Limit Right Limit Gnd 24 3 9 11 Enable D TYPE 25 PIN MALE Fault 12V 12V 23 InMode 16 15 GND Amplifier Card LC CIRCUIT D Type 9 pin Male DC DC BLOCK TERMINAL MALE D TYPE 25 PIN FEMALE 2x LEDS 1 2 3 4 5 48V GND ENABLE Vin Vin DC POWER SUPPLY PLANT MODE Vout JOYSTICK Status Twisted and shielded cable GND POTENSIOMETE R Vin 1 Shield 2 GND Vin 14 AB1A NANOMOTION MOTOR 3 4 5 1 6 2 7 UP COM DOWN GND...

Page 16: ...ons The Motor Connected signal is available only at the motor connector where it is shorted to ground 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 AB1A use a suitable branch cable If the motor type or the number of motor elements is changed consult Nanomotion for the appropriate driver config...

Page 17: ...own Enable Enables the driver activation Should be activated before the motor is run Emergency Stop Disables the AB1A output Mode Enabling Step Mode Enables Step Mode operation Direction Restrictions Left Switch Disables motor motion to the left Right Switch Disables motor motion to the right To control logic VCC AB1A VCC User Voltage Command Input 390 JP1 1 Figure 7 Opto Isolated Input Interface ...

Page 18: ...r The input to be activated should be shorted to external voltage supply ground Configure jumper JP 1 located near U1 on the AB1A card according to the voltage source Pin 1 shorted to Pin 2 for an internal 5V source factory setting Pin 2 shorted to Pin 3 for an external voltage source ATTENTION Do not short Pin 1 to Pin 3 on JP2 Doing so shorts the external power supply to the 5V supply The input ...

Page 19: ...ected to the AB1A verify the following Card configuration as specified on box matches the motor to be operated Jumper JP1 is set to the required mode of operation All connectors are secured with screws The external power supply is capable of supplying the required power consumption of the AB1A There is no command when switching the power to ON Make sure that all motors that are to be driven by the...

Page 20: ...or 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 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...

Page 21: ...ine 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 9 Motor Velocity vs Command1 Figure 10 and Table 1 are designed to help the user determining the correct envelope of performance and avoid overheating and damaging the motor 1 The motor operates horizontally at room temperature and low duty cycle 10 It interfaces with the Ceramic Dri...

Page 22: ...ir 25 C Air 50 C Vacuum Duty Cycle Maximal Continuous Operation time sec Duty Cycle Maximal Continuous Operation time sec Duty Cycle Maximal Continuous Operation time sec a 100 100 100 b 100 100 44 184 c 100 92 137 26 107 d 100 62 93 17 72 e 78 87 47 70 13 55 f 56 62 33 50 9 39 g 50 56 30 45 8 35 Table 1 EOP Table for HR Motors Driven by AB1A AB2 AB4 ...

Page 23: ...n this operation mode 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 The amplitude of the output corresponds to the analog command input value and thus determines the speed of the motor 4 1 2 1 Enabling the Step Mode Enable the Step operation mode by shorting pin 16 see Table 9 to the ground Gate Mode Operation 4...

Page 24: ... the LS series of motors should not be operated with command voltage exceeding 3 5V To allow some margin in cases which require momentarily use of higher power the AB1A for the LS series of motors is limited to 5V Nanomotion expects that during normal operation the commanding controller should protect the motor and assumes that in continuous operation the command will not exceed 3 5V The protectio...

Page 25: ...5 200 mA 1x HR1 is connected 500 mA 1x HR2 is connected 800 mA 1x HR4 is connected 1200 mA 1x HR8 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 AB1A power consumption without motor 48VDC 125 mArms according to the following I 125mA n current consumption of a single motor n Number of motors that ar...

Page 26: ...ble 5 Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Operating Humidity Up to 80 non condensing Table 6 Analog Input Specifications Input voltage range 10V Input impedance 10k Input low pass filter 4kHz ...

Page 27: ...Specifications Nanomotion Ltd Page 27 of 29 5 2 AB1A Layout Figure 11 AB1A Layout 1 2 Dimensions in mm General tolerance 0 4 ...

Page 28: ...he driver operation without the motor 2 Motor_Phase High voltage output Used with an external LC Box Connected to the capacitor in the LC Box otherwise not connected 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...

Page 29: ...OP Input Protection Input See section 0 13 USER_VOLTAGE Input External power supply for the opto isolated type inputs See section 2 5 1 14 VIN Input Negative analog command input 15 GND Ground 16 STEP_IN Input Gate Step Selection 17 RESET_IN Input Master Reset Activated shorted to ground 18 NC Not used 19 NC Not used 20 NC Not used 21 GATE Input Gate mode enabling 22 RIGHT_LIMIT Left Limit Switch ...

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