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Motor User Manual

Table of Contents

Nanomotion Ltd.

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Table of Contents

GENERAL ...................................................................................................................... 10

General Handling Guidelines ................................................................................. 10

Reference Documentation ..................................................................................... 10

INTRODUCTION ............................................................................................................ 11

The EDGE Motor ................................................................................................... 11

The EDGE-4X Motor ............................................................................................. 11

EDGE & EDGE-4X Motor Features ....................................................................... 11

MOTOR OPERATION .................................................................................................... 13

Operation Principle of EDGE & EDGE-4X Motors ................................................. 13

Driving Modes ....................................................................................................... 13

MOTOR INSTALLATION ............................................................................................... 15

Mounting Base Design Considerations .................................................................. 15

Bonding the Driving Strip to the Stage ................................................................... 16

Mounting and Connecting the EDGE Motor ........................................................... 18

Mounting and Connecting the EDGE-4X Motor ..................................................... 21

Operating the motor .............................................................................................. 23

Driver/Controller ......................................................................................... 23

MOTOR CONDITIONING ............................................................................................... 24

The Conditioning Procedure .................................................................................. 24

TECHNICAL DATA ........................................................................................................ 25

Motor Model for Control Simulations ...................................................................... 25

Specifications EDGE ............................................................................................. 26

Performance ............................................................................................... 26

Electrical .................................................................................................... 26

Environmental ............................................................................................ 26

Dimensions ........................................................................................................... 27

Thermal Envelope of Performance (EOP) ............................................................. 27

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Содержание EDGE

Страница 1: ...EDGE458001 01 REV A Dec 2016 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 EDGE EDGE 4X Motors User Manual ...

Страница 2: ...the remaining warranty coverage of the original part NM s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery with...

Страница 3: ...special or consequential damages whether based on contract tort including negligence strict liability or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of the preceding sentence NM shall not be liable to the Purch...

Страница 4: ...69838991 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 ...

Страница 5: ...vision Date Details 00 A July 2011 New release NA August 2012 Administrative change added patent information to the front matter 00 B July 2013 Corrected the related documents on page 8 01 A Nov 2016 Add EDGE 4X and combine to one User manual for EDGE EDGE 4X family motors ...

Страница 6: ... 3 2 4 MOTOR INSTALLATION 15 Mounting Base Design Considerations 15 4 1 Bonding the Driving Strip to the Stage 16 4 2 Mounting and Connecting the EDGE Motor 18 4 3 Mounting and Connecting the EDGE 4X Motor 21 4 4 Operating the motor 23 4 5 Driver Controller 23 4 5 1 5 MOTOR CONDITIONING 24 The Conditioning Procedure 24 5 1 6 TECHNICAL DATA 25 Motor Model for Control Simulations 25 6 1 Specificatio...

Страница 7: ...5 7 1 EDGE Motor Layout 35 7 1 1 EDGE Mounting Base Layout 36 7 1 2 EDGE Motor Electro Mechanical Interface 37 7 1 3 EDGE 4X Motor Layout 38 7 2 EDGE 4X Motor Layout 38 7 2 1 EDGE 4X Mounting Base Layout 39 7 2 2 EDGE 4X Motor Electro Mechanical Interface 40 7 2 3 8 CONTACT INFORMATION 41 Customer Service 41 8 1 General Inquiries and Ordering 41 8 2 ...

Страница 8: ...re 7 Block Diagram of the Motor and Driver 25 Figure 8 Typical EDGE Motor Velocity vs Command Operating in Standard Driving Mode 28 Figure 9 Typical Motor Velocity vs Command Operating in Linear Driving Mode 29 Figure 10 EDGE motor Force vs Velocity at different work regimes 29 Figure 11 Typical EDGE 4X Motor Velocity vs Command Operating in Standard Driving Mode 31 Figure 12 Typical EDGE 4X Motor...

Страница 9: ...ions ASIC Application Specific Integrated Circuit Refers specifically to Nanomotion Controller Driver chip AC Alternating Current DC Direct Current ICD Interface Controlled Document IPA Isopropyl Alcohol used for cleaning PCB Printed circuit board FPC Flexible Printed Circuit ...

Страница 10: ... is properly mounted and connected 2 to the driver controller Do not immerse the motor in any liquid or cleaning agent Use only a clean 3 room lint free cloth to wipe the motor Ensure that the motor and especially the fingertip is not subjected to direct 4 high mechanical shock Follow the installation instructions provided in this manual when mounting the 5 motor The EDGE EDGE 4X motor is not user...

Страница 11: ...iver XCD and XCD2 controller driver The EDGE motor can be easily integrated with most types of bearing structures and it is ideal for mass production applications The EDGE 4X Motor 2 2 The EDGE 4X motor expands the EDGE product line of low voltage piezo motors bringing four times the force of the Edge motor The EDGE 4X provides up to 1 3N stall force and unlimited travel for linear or rotary appli...

Страница 12: ...tor User Manual Introduction Nanomotion Ltd 12 ASIC XCD and XCD2 drive and control Standard Driving Mode Linear Driving Mode Wide dynamic velocity range Inherent brake at power off High resolution Silent ...

Страница 13: ...g force is exerted on the stage causing stage movement The periodic nature of the driving force at frequencies much higher than the mechanical resonance of the stage allows continuous smooth motion for unlimited travel while maintaining high resolution and positioning accuracy typical of piezoelectric devices Motion can be linear or rotary depending on the coupling mechanism Driving Modes 3 2 The ...

Страница 14: ...Mode this mode facilitates a linear response of the motor from 0 zero command level This mode is recommended for scanning applications and micron level displacement The Linear Mode drive is preferable for perfect servo tracking and or very low ripple constant velocity ...

Страница 15: ...ign Considerations 4 1 Refer to chapter 7 for motor and mounting base drawings note that mounting base dimensions refer to the front surface of the Ceramic Driving Strip The mounting base should be perpendicular to the Ceramic Driving Strip Both screws securing the motor to the mounting surface are inserted from the top of the motor In multi axis application make sure that any protrusion of the sc...

Страница 16: ...ic Driving Strip Verify that there is a maximum gap of 0 5mm between the lower edge of the 3 Ceramic Driving Strip and the motor mounting surface refer to chapter 7 to assure enough clearance for the motor tip Apply Epoxy adhesive on the center of the Ceramic Driving Strip surface 4 about 5 mm length see Figure 1 For short strips up to 10mm a single drop can be applied on each end of the Ceramic D...

Страница 17: ...ation Nanomotion Ltd 17 IMPORTANT Ensure that the epoxy is in contact with the surfaces of both the strip and slide but that it does not flow over the Ceramic Driving Strip front surface or over the upper working surface of the slide ...

Страница 18: ... be perpendicular to the holes and at the correct distance to enable proper mounting of the motor This can be achieved by designing an alignment feature in the base plate or by using a jig which fits to the motor pin holes in the base Place the motor fingertip against the ceramic plate and gently press the 1 motor toward the ceramic plate until the motor pins can be inserted into the corresponding...

Страница 19: ...nnect the motor s FPC to the motor interface connector see chapter 7 1 3 for details located on the user s PCB PCB and FPC design may change for different applications Figure 3 Connecting the Motor FPC to the FPC Electrical Interface example of design used for EDGE EVALUATION KIT FPC interface connector EDGE Motor Motor FPC connector Slide User s PCB ...

Страница 20: ...Motor User Manual Motor Installation Nanomotion Ltd 20 Figure 4 Example of stage based on EDGE motor including ASIC EDGE driver and position encoder EDGE MOTOR EVALUATION KIT stage ...

Страница 21: ... System Mechanical Parts Overview Insert the location pin into the corresponding hole on the motor by placing the 1 motor fingertip against the ceramic plate and gently press the motor toward the ceramic plate and then insert the additional location pin through the motor until the pin affixed into the slot Alternatively use spacer with 0 6 mm space between the motor front wall and the ceramic stri...

Страница 22: ... external vibrations it is recommended using a bonding material such as LOCTITE 242 to secure the screws Check that the distance of mounting from alumina is 0 6 mm 3 Connect the motor s FPC to the motor interface connector see chapter for 4 details located on the user s PCB PCB and FPC design may change for different applications Figure 6 Connecting the Motor FPC to the FPC Electrical Interface ex...

Страница 23: ... 2 Choose the driving mode see section 3 2 The motor is now ready for 2 conditioning see chapter 5 For operating in close loop install an encoder and connect a controller to the 3 motor driver Driver Controller 4 5 1 EDGE motor 4 5 1 1 The NM ASIC driver can work either as a driver or as a controller driver see chapter 1 2 for ASIC and the EDGE driver user manuals reference EDGE EDGE 4X 4 5 1 2 Th...

Страница 24: ...ode see Section 3 2 4 Run the stage repetitively from point to point in closed loop under the following conditions a Velocity 70 80 mm s b Acceleration Deceleration up to 2 m s2 c Duty cycle 50 This means that the dwell time the driver is disabled should be the same as the move time the driver is enabled d Conditioning duration 30 minutes For applications where control performance is not too deman...

Страница 25: ...a DC motor by a voltage amplifier as illustrated in Figure 8 Figure 7 Block Diagram of the Motor and Driver Vin Command to the driver 0V Vin 10V Kf Force constant N V Offset Starting voltage V Kfv Velocity damping factor similar to back EMF N s m Vel Motor velocity m s M Moving mass kg s Laplace variable 1 s The diagram refers to both standard and linear modes In linear drive mode Offset is design...

Страница 26: ... to 3 5 10 to 33 V Attainable Resolution 0 5 0 5 µm Nominal Lifetime 20000 20000 hr Electrical 6 2 2 Property EDGE Value EDGE 4X Value Unit Motor Voltage at max command 8 5 to 11 14 V AC Motor Current at max command 130 250 mA AC Motor Power Consumption at max command 400 to 750 1 5 2 W mW Motor Capacitance between Phase and COMMON 9 5 23 5 nF Environmental 6 2 3 Property EDGE Value EDGE 4X Value ...

Страница 27: ...nd level The heat is dissipated through the following heat transfer mechanisms conduction radiation and convection by air The heat dissipation mechanisms should be able to dissipate the heat generated in order to avoid overheating The EOP gives the user the tools to assess the permitted operating conditions for a set ambient temperature and dynamic performance deriving the Duty Cycle and or Maxima...

Страница 28: ...spondingly for correlation between driver settings motor performance and EOP Figure 8 Typical EDGE Motor Velocity vs Command Operating in Standard Driving Mode Note The motor operates horizontally at room temperature and nominal conditions It interfaces with the Ceramic Driving Strip according to Nanomotion Specifications and a cross roller high quality slide ...

Страница 29: ...gimes Considering the above Figure 11 there is a corresponding limiting Duty Cycle and Maximum Continuous Operation time for each point on the motor force velocity plane Table 1 and Figure 11 are designed to assist the user in determining the correct envelope of performance and avoid overheating and damaging the motor 0 50 100 150 200 250 0 1 2 3 4 5 6 7 8 9 10 Velocity mm s Command V ...

Страница 30: ... 70 C Curve Ambient Temperature 60 o C Standard Linear Duty Cycle Maximum Continuous Operation sec Duty Cycle Maximum Continuous Operation sec Brake ON Brake OFF a 100 100 100 b c Curve Ambient Temperature 60 70 C Standard Linear Duty Cycle Maximum Continuous Operation sec Duty Cycle Maximum Continuous Operation sec Brake ON Brake OFF a 100 100 100 b 100 80 30 60 c 80 60 70 15 30 Table 1 EOP for E...

Страница 31: ... OFF although the driver is set to 0 V command power is still consumed and therefore heat is generated by the motor effectively reducing the allowable Duty Cycle EDGE 4X Motor 6 4 2 Figure 11 and Figure 12 display the minimal Motor Velocity vs Driver command in Standard and Linear Modes correspondingly for correlation between driver settings motor performance and EOP Figure 11 Typical EDGE 4X Moto...

Страница 32: ... F V curve given in Figure 13 Figure 13 EDGE 4X motor Force vs Velocity at different work regimes Considering the aboveFigure 13 there is a corresponding limiting Duty Cycle and Maximum Continuous Operation time for each point on the motor force velocity plane 0 50 100 150 200 250 0 1 2 3 4 5 6 7 8 9 10 Velocity mm s Command V 0 0 2 0 4 0 6 0 8 1 1 2 1 4 0 20 40 60 80 100 120 140 160 180 200 Force...

Страница 33: ...rd and Linear drive mode when the motor is kept in an environment of up to 70 C Curve Ambient Temperature 60 o C Standard Linear Duty Cycle Maximum Continuous Operation sec Duty Cycle Maximum Continuous Operation sec Brake ON Brake OFF a 100 100 100 b c Curve Ambient Temperature 60 70 C Standard Linear Duty Cycle Maximum Continuous Operation sec Duty Cycle Maximum Continuous Operation sec Brake ON...

Страница 34: ... time idle time During the idle time the driver can be DISABLED BRAKE ON or set to 0 V command BRAKE OFF In Linear Driving Mode BRAKE ON and BRAKE OFF are not equivalent Under BRAKE OFF although the driver is set to 0 V command power is still consumed and therefore heat is generated by the motor effectively reducing the allowable Duty Cycle ...

Страница 35: ...E Motor Layout 7 1 EDGE Motor Layout 7 1 1 Figure 14 shows the EDGE motor layout according to EDGE INTERFACE DRAWING DOCUMENT NO EDGE458101 01 Figure 14 EDGE Motor Mechanical Layout Note The dimensions are in mm Preloaded Position refers to Motor installed on a mounting based according to Section 7 1 2 ...

Страница 36: ...anomotion Ltd 36 EDGE Mounting Base Layout 7 1 2 Figure 15 shows the mounting base requirements for EDGE motors according to EDGE INTERFACE DRAWING DOCUMENT NO EDGE458101 01 Figure 15 EDGE motor mounting base requirements Note The dimensions are in mm ...

Страница 37: ... used with a standard 1mm FPC Connector for example AMP P N 487951 4 See EDGE INTERFACE DRAWING DOCUMENT NO EDGE 458101 for details and pin out Note that the EDGE motor is also available with a custom FPC for specific OEM applications Please contact Nanomotion Ltd for advice Figure 16 EDGE motor electro mechanical interface Note The dimensions are in mm ...

Страница 38: ... Mechanical Interfaces Nanomotion Ltd 38 EDGE 4X Motor Layout 7 2 EDGE 4X Motor Layout 7 2 1 Figure 17 shows the EDGE motor layout according to EDGE 4X INTERFACE DRAWING DOCUMENT NO EDG4129000 00 Figure 17 Edge 4X Motor Layout ...

Страница 39: ... shows the mounting base requirements for EDGE 4X motors according to EDGE 4X INTERFACE DRAWING Note Use two holes for dowel pins indicated in red on the below figure to align the bearing with ceramic strip perpendicular to the motor and at the correct distance Figure 18 EDGE 4X motor mounting base requirements ...

Страница 40: ...Note The dimensions are in mm EDGE 4X Motor Electro Mechanical Interface 7 2 3 Figure 19 shows the EDGE 4X motor layout according to EDGE 4X INTERFACE DRAWING DOCUMENT NO EDG4129000 00 Figure 19 EDGE 4X motor electro mechanical interface Note The dimensions are in mm ...

Страница 41: ... detailed problem description General Inquiries and Ordering 8 2 Item Part Number EDGE 4X STANDARD EM4X S 1 0 EDGE 4X 100mm EM4X S 1 10 MOTOR PIEZOELECTRIC EDGE EM1 S 0 Related Products Accessories Controller Driver for 1 EDGE 4X motor XCD E4X BD1 XX Controller Driver for 2 EDGE 4X motors in parallel XCD E4X BD2 XX BOARD EDGE XCD EDG BD XX BOARD EDGE 2 AXIS XCD EDGE2 BD XX XCD2 XCD2 Controller dri...

Страница 42: ...PO Box 623 Yokneam Israel 20692 Tel 972 73 2498000 Fax 972 73 2498099 Web site www nanomotion com Email nano nanomotion com 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 nanomotion com ...

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