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Nanomotion AB5, User Manual

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Nanomotion AB5 User Manual Download Page 12

 

Connections and I/O Settings 

6

 

 
 

AB5

 

1  +24V 

2   Gnd 

7  Gnd 

6   Motor_Cnctd 

1   Gnd 

5 Down 

4  Com 

3    Up 

1   +Vin  

14  -Vin  

9   Gnd 

2   Gnd 

3   Fault 

24  Enable 

D-Type 25 Pin  

Terminal Block 
5 Pin 

D-Type 9 Pin  

Motor 

Controller  

Enable 

Status 

Shield 

-

Vout (or Gnd)

 

+Vout  

Twisted and shielded cable 

DC Power Supply   

 

Figure 3: Non-Differential (single-ended) Analog Input Connection. 

Summary of Contents for AB5

Page 1: ...Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 4 959 0862 Fax 972 4 959 0995 Web Site www nanomotion com E mail nano nanomotion com AB5 Driver User Manual June 2005 P N AB05 458 200 A ...

Page 2: ... 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 Pur...

Page 3: ...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 4: ...nding the Driver IMPORTANT 8 2 4 Motor Connections 8 2 4 1 Motor Cable Length 9 2 5 Opto isolated Inputs 9 2 5 1 Voltage Source Configuration 10 2 6 Fault Output 11 2 7 Before Operating the Motor 11 3 AB5 OPERATION 12 3 1 Set Offset Procedure 12 3 1 1 Setting the Offset 12 3 2 Operation Modes 12 3 2 1 Velocity Mode Operation 13 3 2 2 Step Mode Operation 13 3 2 2 1 Enabling the Step Mode 13 3 2 3 B...

Page 5: ...e 5 Opto Isolated Input Interface 9 Figure 6 Jumper 3 Configuration 10 Figure 9 Mechanical Dimensions 15 Figure 8 EOP Considerations 19 List of Tables Table 1 Electrical Specifications 14 Table 2 Recommended Power Supplies 14 Table 3 Physical Properties 14 Table 4 Environmental Conditions 14 Table 5 Analog Input Specifications 14 Table 6 Control Terminal Pin Out 16 Table 7 Motor Output Port Pin Ou...

Page 6: ...ions v List of Abbreviations A Ampere AC Alternating Current DC Direct Current LED Light Emitting Diode mA Milliampere mW Milliwatt PWM Pulse Width Modulation TTL Transistor Transistor Logic Vrms Volts Root Mean Square ...

Page 7: ...otion motors The Logic and Driver cards are common to all AB5 configurations while the Personality card is configuration specific and can be replaced when a motor type or number is changed 1 2 Main Features High precision 11 bits control of the output power stage Zero Dead Band Drives up to four HR8 motors Four operation modes Velocity Step and Brake On Off Interface to an analog command Modular d...

Page 8: ... with an equilibrium of the clutch and gas holding us in place Even the slightest increase in pressure on the gas pedal combined with a decrease in pressure on the clutch causes the automobile to move The amount of pressure applied to the clutch and the amount of pressure applied to the gas pedal are the factors that cause the vehicle to move By letting the motor vibrate in a certain unique way th...

Page 9: ...ons and I O Settings 2 1 Front Panel Description The AB5 front panel see Figure 1 contains the following connectors and indicators Control Terminal Motor Output Port I O Port Power Enable Indicators Ground Screw Figure 1 AB5 Driver Front Panel ...

Page 10: ... Vcc 4 6V Motor not connected Green Off Motor connected and disabled Green Orange Motor enabled Green Green Over Current Over Voltage Green Red 2 2 Motion Control Interfaces The AB5 Driver Box can receive the input signals either from a motion controller or from a joystick The schematic diagrams of the motion controllers and joystick connections to the AB5 Driver Box are provided in following sect...

Page 11: ... 1 24V 2 Gnd 7 Gnd 6 Motor_Cnctcd 1 Gnd 5 Down 4 Com 3 Up 1 Vin 14 Vin 3 Fault Terminal Block 5 Pin D Type 9 Pin Motor Controller Enable Status Shield Vout Vout Twisted and shielded cable DC Power Supply Gnd 2 Gnd Figure 2 Differential Analog Input Connection ...

Page 12: ...nd 5 Down 4 Com 3 Up 1 Vin 14 Vin 9 Gnd 2 Gnd 3 Fault 24 Enable D Type 25 Pin Terminal Block 5 Pin D Type 9 Pin Motor Controller Enable Status Shield Vout or Gnd Vout Twisted and shielded cable DC Power Supply Figure 3 Non Differential single ended Analog Input Connection ...

Page 13: ...ws the user to manually drive the motor without using a motion controller AB5 1 24V 2 Gnd 7 Gnd 6 Motor_Cnctd 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 Motor Joystick Shield 10V Vout Twisted and shielded cable DC Power Supply 23 10V 2 Gnd 10V 24 Enable Figure 4 Joystick Connection ...

Page 14: ...hock does not occur the ground screw on the bottom left of the front panel MUST be connected 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 7 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...

Page 15: ...per 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 low i e by shorting them to ground see Table 8 for more details Emergency_Stop Disables the AB5 output Enable_Sign_In Changes Enable_In input logic to active high Enable_In Enables driver operation Should be activated before the motor can ...

Page 16: ...hould be shorted to external voltage supply ground Configure jumper JP2 on the top AB5 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 Pin 4 for an external 3 3V voltage source Connection for Internal source JP2 3 Connection for External source 4 1 2 JP2 3 4 1 2 Figure 6 Jumper 2 Configuration ATTENTION Do not short o...

Page 17: ...a maximum of 20 mA and is not protected from over current 2 7 Before Operating the Motor Before operating the AB5 verify the following Jumper JP2 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 AB5 see Table 2 There is no command when switching the power to ON Al...

Page 18: ...s 4 While still applying the above command level momentarily short pin 19 to ground The driver remembers this level of command as its zero Max 2 5V 5 Apply now zero command level and verify that the slide is in standstill 3 2 Operation Modes Both Enable_In and Motor_Connected inputs must be active for operation regardless of the operation mode The AB5 can be operated in one of the three operation ...

Page 19: ...ase 0 5 second The amplitude of the output corresponds to the analog command input value and thus determines the speed of the motor 3 2 2 1 Enabling the Step Mode Short pin 16 to ground to enable Step mode operation 3 2 3 Brake On Mode This option is used when the inherent break force of the motor is needed The driver is disabled and the motor is turned off NOTE although the driver is disabled the...

Page 20: ... Supplies Supply Voltage Maximum Current Consumption Applicable For 2A E1 to E4 3A E8 6A E16 24 VDC 5 12A E32 Table 3 Physical Properties Weight 450g Table 4 Environmental Conditions Operating Temperature 0 C to 50 C Storage Temperature 40 C to 70 C Operating Humidity Up to 80 Non condensing Table 5 Analog Input Specifications Input voltage range 10V Input impedance 10kΩ Input low pass filter 2 7 ...

Page 21: ...Specifications 15 4 2 AB5 Layout Figure 7 Mechanical Dimensions ...

Page 22: ...ound 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 Safety input shorted to p...

Page 23: ...ection 2 5 13 User_Voltage 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_In Input Disables driver operation without resetting 18 SPI_Clock Disabled 19 Set_Offset_Level Input Read command and remember as offset 20 Enable_Sign_In Input When shorted to ground the Enable_In input i...

Page 24: ...ycle and continued operation Important If a Break Off mode is desired while working in vacuum the following operating regime must be maintained within the specific duty cycle stated in the chart once the maximal continuous operation time has elapsed the motor must be disabled and allowed to cool off for at least 400 seconds For example looking at curve C in vacuum with the break off after 280 seco...

Page 25: ...Specifications 19 Figure 8 EOP Considerations Break Off Break On Break On ...

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