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Nanomotion AB1A-3U, User Manual

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Nanomotion Ltd.

 

 

Page 8 of 29 

List of Figures 

Figure 1: AB1A-3U Block Diagram ................................................................................. 11

 

Figure 2: Schematic Diagram of the Output Stage with an Internal LC Card ................... 12

 

Figure 3: Differential Analog Input Connection ................................................................ 15

 

Figure 4: Non-Differential (single ended) Analog Input Connection. ................................ 15

 

Figure 5: J1 Connection to a Motor or Branch Cable ...................................................... 17

 

Figure 6: Jumper 2 Configuration ................................................................................... 20

 

Figure 7: Opto-Isolated Input Interface ........................................................................... 20

 

Figure 8: LED Indicators ................................................................................................. 22

 

Figure 9: Motor Velocity vs. Command ........................................................................... 24

 

Figure 10: Motor Force vs. Velocity at the Various Work Regimes (a-g) ......................... 25

 

Figure 11: AB1A-3U Layout ............................................................................................ 27

 

List of Tables 

Table 1: EOP Table for HR Motors Driven by AB1A, AB1A-3U, AB2, AB4 ..................... 25

 

Table 2: AB1A-3U Power Consumption .......................................................................... 26

 

Table 3: Electrical Specifications .................................................................................... 26

 

Table 4: Environmental Conditions ................................................................................. 26

 

Table 5: Analog Input Specifications ............................................................................... 27

 

Table 6: Dissipated Heat ................................................................................................ 27

 

Table 7: Input/Output Connector Pin Out ........................................................................ 28

 

Summary of Contents for AB1A-3U

Page 1: ...D N AB3U458000 00 REV F August 29 2012 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 3U Driver User Manual ...

Page 2: ...nslated 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 2003 2012 Yokneam Israel All rights reserved All ...

Page 3: ... 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 pr...

Page 4: ...8991 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 2...

Page 5: ...CE Compliance Nanomotion Ltd Page 5 of 29 Revision History ECO Revision Release date Details NA NA Aug 2012 Administrative change added patent information section in front matter ...

Page 6: ...e a closed shielded metal cabinet and was found to be in compliance with the following directives and standards EMC Directive 89 336 EEC FCC 47 CFR part 15 subpart B LVD directive 73 23 EC Article 5 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 class A EN 61010 1 2001 ...

Page 7: ...ve LS Motors 14 2 CONNECTIONS AND I O SETTINGS 15 2 1 Motion Controller Connection 15 2 2 Cable Connections 15 2 2 1 Shielding 16 2 3 Motor Connections 17 2 3 1 Motor Cable Length 18 2 4 Opto isolated Inputs 19 2 4 1 Voltage Source Configuration 19 2 5 Fault Output 21 2 6 LED Indicators 21 2 7 Before Operating the Motor 22 3 THERMAL ENVELOPE OF PERFORMANCE EOP 23 3 1 Description 23 3 2 Stage Heat ...

Page 8: ...re 6 Jumper 2 Configuration 20 Figure 7 Opto Isolated Input Interface 20 Figure 8 LED Indicators 22 Figure 9 Motor Velocity vs Command 24 Figure 10 Motor Force vs Velocity at the Various Work Regimes a g 25 Figure 11 AB1A 3U Layout 27 List of Tables Table 1 EOP Table for HR Motors Driven by AB1A AB1A 3U AB2 AB4 25 Table 2 AB1A 3U Power Consumption 26 Table 3 Electrical Specifications 26 Table 4 En...

Page 9: ...pere 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 ATTENTION HIGH VOLTAGE ON CARD OPERATE ONLY INSIDE A CLOSED SHIELDED METAL CABINET ...

Page 10: ... be driven by AB1A 3U are HR LS ST and STM 1 2 Main Features High precision 11 bits control of the power output stage Drives up to 32 Nanomotion motor elements in parallel Interfaces with an Analog command Discrete inputs enable feedback from external sources such as limit switches emergency stop command etc LED indicators Output short circuit protection Reduced sensitivity to cable length and cap...

Page 11: ...C Card produces the sine wave output voltage that drives the motor The LC Card type and configuration depends on the number of motor elements driven For 1 to 16 elements the LC circuit is internal to the AB1A 3U For 32 elements the LC circuit is external to the AB1A 3U LC Box An internal DC to DC converter that is fed from an external 48V power supply supplies the required DC voltages Figure 1 ill...

Page 12: ...TION MOTOR COMMON UP DOWN Common Phase Up Down LC Card AC output that drives the motor AB1A3U PWM Square wave on the amplifier output Figure 2 Schematic Diagram of the Output Stage with an Internal LC Card 1 4 Operation Modes The AB1A 3U can be operated in one of the following operation modes Velocity Mode in which the motor is driven continuously Gate Mode in which the motor is driven at low velo...

Page 13: ...e the Step Mode the B10 pin see Table 7 should be shorted to the ground By default neither B10 nor Z14 see section 1 4 3 1 is shorted to the ground so that the user can select the required connection 1 4 3 Gate Mode Operation In this operation mode the motor is driven in open loop at low velocities by turning the driver output ON and OFF in time intervals defined by an external switching The ampli...

Page 14: ... 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 3U 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 exce...

Page 15: ...otion controller to the AB1A 3U driver Differential connection see Figure 3 Single Ended Connection see Figure 4 The differential connection enhances noise immunity From controller Vin Vin AB1A 3U Figure 3 Differential Analog Input Connection From controller Vin Vin AB1A 3U Gnd Figure 4 Non Differential single ended Analog Input Connection 2 2 Cable Connections ...

Page 16: ... it is recommended to twist the ground line and the power line together ANALOG COMMAND a twisted shielded cable is recommended DISCRETE INPUTS These signals are not sensitive to noise and can be grouped together in the same harness with any of the other groups 2 2 1 Shielding As the high motor voltage is induced on the cable shield it is required to ground the shield on both motor and driver sides...

Page 17: ...l not be exposed to high voltage when the motor is not connected If more than one motor is connected to the AB1A 3U Driver Box use a suitable branch cable or extension cable as supplied by Nanomotion If the motor type or the number of motor elements is changed consult Nanomotion for the appropriate LC Card configuration and other driver configuration changes that may be required Figure 5 J1 Connec...

Page 18: ...n accordance with the following Up to 2 motor elements 5m 4 32 motor elements 10m NOTE Use Nanomotion standard cables Branching is possible to 2 and 4 identical motors Branch cables must be of identical length the sum of which not exceeding the allowed total cable length NOTE Nanomotion can guarantee proper driver and motor performance only when Nanomotion standard cables are used ...

Page 19: ...t 2 4 1 Voltage Source Configuration The opto isolated input signals are activated as short to ground The voltage for the opto isolated circuit see Figure 7 is provided by either the internal 3 3V supply default setting or an external voltage supply via pin 20 on the I O Port connector The input to be activated should be shorted to external voltage supply ground Configure jumper JP 2 located near ...

Page 20: ...tings Nanomotion Ltd Page 20 of 29 Internal voltage source External voltage source Figure 6 Jumper 2 Configuration To control logic VCC AB1A 3U VCC User Voltage Command Input 390Ω JP2 1 Figure 7 Opto Isolated Input Interface ...

Page 21: ...apable of sinking a maximum of 20 mA and is not protected from over current 2 6 LED Indicators There are five LED indicators located on the front side of the card See Figure 8 for LEDs locations Power ON Green LED Lights when 48V is applied Fault Red LED Lights when over current protection is triggered Motor Disabled Red LED Lights when motor is connected and the driver is disabled Motor Not Conne...

Page 22: ...Jumper JP2 is set to the required mode of operation The external power supply is capable of supplying the required power consumption of the AB1A 3U There is no command when switching the power to ON Make sure that all motors that are to be driven by the AB1A 3U are preloaded ATTENTION The command should be limited according to the envelope of performance of the motor Refer to the Motor User Manual...

Page 23: ...ions 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 graph and table in section 3 3 After the continuous op...

Page 24: ...B4 Drivers Figure 9 illustrates motor velocity as a function of the applied driver command voltage Allowing up to 30 mm sec variations use it as a reference 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 9 Motor Velocity vs Command0F 1 Figure 10 and Table 1 are designed to help the user determining the correct enve...

Page 25: ...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 AB1A 3U AB2 AB4 ...

Page 26: ...00 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 3U 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 27: ...issipated Heat Configuration Input Power W Motor Power W Dissipated Heat W HR1 9 6 6 0 3 6 HR2 19 2 12 0 7 2 HR4 38 4 24 0 14 4 HR8 56 7 48 0 8 7 2HR8 96 0 77 5 18 5 4HR8 230 0 192 0 38 0 STM 7 2 4 0 3 2 The values given in Table 6 are nominal 4 2 AB1A 3U Layout Figure 11 AB1A 3U Layout External connector P N ERNI 334203 male Mating connector P N ERNI 344265 female ...

Page 28: ...Gate Input Gate Mode see sections 1 4 3 1 and 2 4 B12 Fault Output Open collector see sections 2 5 D18 D26 VIN Input Negative analog command input 0 to 10V B18 B26 VIN Input Positive analog command input 0 to 10V D22 B22 Motor COMMON Output Connected to the motor COMMON terminal black wire D24 B24 Motor DOWN Output Connected to the motor DOWN terminal white wire B28 Z28 Motor UP Output Connected t...

Page 29: ...ctory D4 B4 Z4 GND Ground Z6 SER_DATA Optional Consult factory Z12 Reset Input System initialization Activated short to ground D14 Reserved For future use Must be left unused Z16 PTC For future use Must be left unused Z18 NC Not in use D20 B20 Motor phase Output Used with an external LC box configuration Otherwise not used Z20 NC Not in use Z22 NC Not in use Z24 NC Not in use Z26 NC Not in use D28...

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