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Nanomotion AB2, User Manual

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Nanomotion AB2 User Manual Download Page 9

AB2 Driver Box User Manual  

AB2 Description 

1 

1 AB2 

Description 

1.1 General 

The AB2 is a single-axis 24V amplifier box designed to drive up to 16 
Nanomotion motor elements. Its main feature is the ability to drive motors in the 
“Piezo Actuator” mode of operation, or “DC Mode”, which enables the motors to 
achieve superior position resolution and accuracy in the range of a few 
nanometers on target. Currently, the motors driven by the AB2 are the HR types 
and the ST. 

1.2 Main 

Features 

• 

High precision (11 bits) control of the output power stage 

• 

Drives up to two HR8 motors. 

• 

Four operation modes: Velocity, Step, Gate and DC.  

• 

Interface to an analog command 

• 

Discrete inputs enabling feedback from external sources 

such as limit switches, emergency stop command, etc. 

• 

Tricolor LED indicators 

• 

Over Current, Over Voltage, and No Load protections  

• 

Minimized sensitivity to cable lengthening  

• 

Compact dimensions 

Summary of Contents for AB2

Page 1: ...Nanomotion Ltd POB 223 Yokneam 20692 Israel Tel 972 4 959 0862 Fax 972 4959 0995 Web Site www nanomotion com E mail nano nanomotion com AB2 Driver User Manual September 2003 P N AB02 458 000 A ...

Page 2: ......

Page 3: ...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 the Purc...

Page 4: ...rms 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 ...

Page 5: ...nections 10 2 3 1 Shielding 10 2 4 Motor Connections 10 2 4 1 Motor Cable Length 11 2 5 Opto isolated Inputs 11 2 5 1 Voltage Source Configuration 12 2 6 Fault Output 13 2 7 Before Operating the Motor 13 3 AB2 OPERATION 14 3 1 Operation Modes 14 3 1 1 Velocity Mode Operation 14 3 1 2 Step Mode operation 14 3 1 2 1 Enabling the Step Mode 15 3 1 3 Gate Mode Operation 15 3 1 3 1 Enabling the Gate Mod...

Page 6: ...otor Configuration 3 Figure 3 AB2 Driver Box Front Panel 4 Figure 4 Differential Analog Input Connection 7 Figure 5 Non Differential single ended Analog Input Connection 8 Figure 6 Joystick Connection 9 Figure 7 Opto Isolated Input Interface 11 Figure 8 Jumper 3 Configuration 12 Figure 9 Typical DC Mode Behaviour 16 Figure 10 AB2 Layout 19 ...

Page 7: ...ion 17 Table 3 Electrical Specifications 17 Table 4 Physical Proprties 17 Table 5 Environmental Conditions 18 Table 6 Analog Input Specifications 18 Table 7 DC Mode Specifications 18 Table 8 Control Terminal Pin Out 20 Table 9 Motor Output Port Pin Out 20 Table 10 I O Port Pin Out 21 ...

Page 8: ...reviations Nanomotion Ltd vi List of Abbreviations A Ampere AC Alternating Current DC Direct Current LED Light Emitting Diode mA Milliampere mW Milliwatt TTL Transistor Transistor Logic Vrms Volts Root Mean Square ...

Page 9: ...accuracy in the range of a few nanometers on target Currently the motors driven by the AB2 are the HR types and the ST 1 2 Main Features High precision 11 bits control of the output power stage Drives up to two HR8 motors Four operation modes Velocity Step Gate and DC Interface to an analog command Discrete inputs enabling feedback from external sources such as limit switches emergency stop comman...

Page 10: ...I O signals Figure 1 illustrates a typical application of the AB2 Driver Box Figure 1 AB2 Block Diagram This square wave from the PWM Controller is filtered through the serial inductance circuit and fed to the push pull transformer circuit to produce a sine wave high output voltage on the secondary coil of the transformer The secondary coil and the motor capacitance serve as the LC resonance circu...

Page 11: ...Power stage voltage feedback DC to DC converter 5v 12v 12v 24V 5A Transformer To motor Vin Vin mode motor connector average current i over voltage protection ditherring Motor PWM drive Direction Motor frequency secondary over voltage protection ad_directio Figure 2 Schematic Diagram of the Output Stage in a Single Motor Configuration ...

Page 12: ... Ltd 4 2 Connections and I O Settings 2 1 Front Panel Description The AB2 front panel see Figure 3 contains the following connectors and indicators Control Terminal Motor Output port I O port Enable Fault Indicators Ground Screw Figure 3 AB2 Driver Box Front Panel ...

Page 13: ...reen Green Over Current Over Voltage Green Red Connector Description Control terminal 5 pin connector Provides input from an external 24 VDC power supply 5A maximum Provides direct control of the motor ENABLE signal The primary voltage 24V is supplied from an external source I O Port D type 25 pin connector female Interfaces to the control source joystick or controller Motor Out D type 9 pin conne...

Page 14: ...d joystick connections to the AB2 Driver Box are provided in following sections NOTE The motor may be operated with minimum control signals applied to the Control Terminal 24V GND POWER VIN VIN ENABLE_IN 2 2 1 Analog Controller Connection There are two options of an analog connection of a motion controller to the AB2 Driver Box Differential connection see Figure 4 Single Ended Connection see Figur...

Page 15: ... UP COM DOWN GND M CON GND AB2 Block Terminal Male D Type 9 Pin Female D Type 9 Pin Male AB2 Card 4 10 22 12 Emergency Stop Left Limit Right Limit GND 24 3 14 ENABLE FAULT Vin Vin 1 PLANT Vout Vout CONTROLLER STATUS ENABLE Twisted and shielded cable Shield Figure 4 Differential Analog Input Connection The other option of an analog controller connection is the single ended connection ...

Page 16: ...ULT GND Vin Vin 1 D Type 25 Pin Female 2x LEDS 1 2 3 4 5 24V GND ENABLE Vin Vin DC POWER SUPPLY PLANT Vout Vout CONTROLLER STATUS ENABLE Twisted and shielded cable NANOMOTION Motor 3 4 5 1 6 7 UP COM DOWN GND M CON GND Shield GND 2 AB2 Block Terminal Male D Type 9 Pin Female D Type 9 Pin Male AB2 Card Figure 5 Non Differential single ended Analog Input Connection ...

Page 17: ... Type 25 Pin Male D Type 25 Pin Female 2x LEDS 1 2 3 4 5 24V GND ENABLE Vin Vin DC POWER SUPPLY NANOMOTION Motor 3 4 5 1 6 7 UP COM DOWN GND M CON GND AB2 Block Terminal Male D Type 9 Pin Female D Type 9 Pin Male AB2 Card 4 10 22 12 Emergency Stop Left Limit Right Limit GND 24 3 9 11 ENABLE FAULT 12V 12V 23 PLANT Vout JOYSTICK Status Twisted and shielded GND P O T E N TI O M E T E R Vin 1 Shield 2...

Page 18: ...the other groups 2 3 1 Shielding Since the high motor voltage is induced on the cable shield it is required to ground the shield on both sides Both the driver card and the motor should be grounded to the infrastructure earth 2 4 Motor Connections The Motor Connected signal is available only at the motor connector where it is shorted to ground see Table 9 This ensures that unprotected motor pins wi...

Page 19: ...er driver and motor performance only when Nanomotion standard cables are used 2 5 Opto isolated Inputs The following inputs are opto isolated and are activated by shorting them to ground See also Table 10 Powering Emergency Stop Disables the AB2 output Enable_In Should be activated before the motor can be run Mode Enabling Step_In Enables Step Gate operation Modes DC Mode Activates the DC mode of ...

Page 20: ... input to be activated should be shorted to external voltage supply ground Configure jumper JP 1 on the AB2 card according to the voltage source Pin 1 shorted to Pin 2 for an internal 5V source default factory setting Pin 2 shorted to Pin 3 for an external voltage source Connection for Internal source T1 JP1 1 T1 JP1 1 Connection for External source Figure 8 Jumper 3 Configuration ATTENTION Do not...

Page 21: ...ble of sinking a maximum of 20 mA and is not protected from over current 2 7 Before Operating the Motor Before operating the AB2 verify the following Jumper JP1 is set to the required mode of operation see section 2 5 1 Mechanical screws lock all connectors The external power supply is capable of supplying the required power consumption of the AB2 see Table 3 There is no command when switching the...

Page 22: ...er DC Mode in which the motor works as a piezo actuator enabling accurate positioning of a few nanometers Both Enable_In and Motor_Connected inputs must be active for the four modes to operate 3 1 1 Velocity AC 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 3 1 2 Step...

Page 23: ...vels 0V on 5V off Open collector logic is also optional Minimum pulse width 50 µsec Maximum pulse frequency 1 kHz 3 1 3 1 Enabling the Gate Mode Enable the Gate mode of operation by shorting pin 8 to the ground Verify that pin 16 is not shorted to the ground at the same time Once pin 8 is shorted the driver is in Gate Mode The external signal should now be conducted through pin 16 3 1 4 DC Mode Op...

Page 24: ...1 4 1 Enabling the DC Mode Enable the DC mode of operation by shorting pin 21 to the ground Warning When switching between AC and DC modes the command voltage should be less than 5V Time elapsed between connecting disconnecting pin 21 to ground and driver engaging in DC AC mode is 1 ms ...

Page 25: ... Current Consumption Applicable When 400 mA HR1 is connected 800 mA HR2 is connected 1500 mA HR4 is connected 2800 mA HR8 is connected 24 VDC 5 300 mA ST 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 AB2 power consumption without motor 24 VDC 125 mArms according to the following I 125mA n current ...

Page 26: ...g 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 10kΩ Input low pass filter 2 7 kHz Table 7 DC Mode Specifications Switch time between Velocity and DC modes 1ms Range 300nm ...

Page 27: ...AB2 Driver Box User Manual Specifications 19 4 2 AB2 Layout Figure 10 AB2 Layout The dimensions are given in mm General Tolerance 0 4 ...

Page 28: ... GND Power supply ground Safety input shorted to pin 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 Safet...

Page 29: ...tion Input see section 2 5 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 GATE Input Used in Step Gate modes see sections 3 1 2 1 3 1 3 1 and 2 5 17 MRN Input Master Reset Activated shorted to ground 18 NC Not used 19 NC Not used 20 NC Not used 21 DC MODE Input Enables DC mode opera...

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