Johnson Electric Nanomotion AB1A User manual

D/N: AB1A458000-00 REV: F December 2011
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
AB1A Driver
User Manual

Nanomotion Ltd. Page 2 of 29
Copyright
This document contains proprietary information of Nanomotion Ltd., and Nanomotion
Inc., and may not be reproduced in any form without prior written consent from
Nanomotion Ltd. and Nanomotion Inc.
No part of this document may be reproduced, translated, 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 June 2001, Yokneam, Israel. All rights reserved.
All products and company names are trademarks or registered trademarks of their
respective holders.
Limited Warranty
Nanomotion Ltd. (hereinafter NM) warrants the product (other than software)
manufactured by it to be free from defects in material and workmanship for a period of
time of one year (except those parts normally considered as consumable/expendable
components such as motor conditioning brushes). The warranty commences thirty (30)
days from the date of shipment.
NM warrants those parts replaced under warranty for a period equal to 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 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 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) products subjected to negligence, accidents or damage by
circumstances beyond NM control; (iii) product subjected to improper operation or
maintenance (i.e. operation not in accordance with NM Installation Manuals and/or
instructions) or for use other than the original purpose for which the product was
designed to be used.
NM shall not in any event have obligations or liabilities to the Purchaser or any other
party for loss of profits, loss of use or incidental, increased cost of operation or delays in
operation, 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 Purchaser for
personal injury or property damages.

CE Compliance
Nanomotion Ltd. Page 3 of 29
CE Compliance
This product has 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

Table of Contents
Nanomotion Ltd. Page 4 of 29
Table of Contents
1AB1A DESCRIPTION ..................................................................................................8
1.1 General ........................................................................................................................8
1.2 Main Features ..............................................................................................................8
1.3 Operating Principles.....................................................................................................9
2CONNECTIONS AND I/O SETTINGS........................................................................11
2.1 AB1A Front Panel.......................................................................................................11
Front Panel Connectors..............................................................................................112.1.1
Front Panel Indicators ................................................................................................12
2.1.2
2.2 Motion Controller/Joystick Connection........................................................................12
Differential Analog Connection ...................................................................................122.2.1
Joystick Connection....................................................................................................152.2.2
2.3 Cable Connections.....................................................................................................16
Shielding ....................................................................................................................162.3.1
2.4 Motor Connections .....................................................................................................16
Motor Cable Length....................................................................................................162.4.1
2.5 Opto-isolated Inputs ...................................................................................................17
Voltage Source Configuration.....................................................................................182.5.1
2.6 Fault Output................................................................................................................19
2.7 Before Operating the Motor........................................................................................19
3THERMAL 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
4AB1A OPERATION ...................................................................................................23
4.1 Operation Modes........................................................................................................23
Velocity Mode Operation ............................................................................................234.1.1
Step Mode operation..................................................................................................234.1.2
4.1.2.1Enabling the Step Mode .............................................................................................23
Gate Mode Operation.................................................................................................234.1.3
4.1.3.1Enabling the Gate Mode.............................................................................................24
4.2 Using the AB1A to Drive LS Motors............................................................................24
5SPECIFICATIONS .....................................................................................................25
5.1 Parameters and Conditions........................................................................................25
5.2 AB1A Layout ..............................................................................................................27
5.3 AB1A Pin Arrangement ..............................................................................................28

List of Abbreviations
Nanomotion Ltd. Page 5 of 29
List of Figures
Figure 1: AB1A Block Diagram .........................................................................................9
Figure 2: Schematic Diagram of the Output Stage with an Internal LC Card...................10
Figure 3: AB1A Driver Box Front Panel...........................................................................11
Figure 4: Differential Analog Input Connection................................................................13
Figure 5: Non-Differential (single-ended) Analog Input Connection.................................14
Figure 6: Joystick Connection.........................................................................................15
Figure 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: Environmental Conditions.................................................................................26
Table 5: Analog Input Specifications...............................................................................26
Table 6: Control Terminal Pin Out...................................................................................28
Table 7: Motor Output Port Pin Out.................................................................................28
Table 8: I/O Connector Pin Out.......................................................................................29

List of Figures
Nanomotion Ltd. 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

New Edition Remarks
Nanomotion Ltd. Page 7 of 29
New Edition Notes:
This edition is released to reflect the following changes:
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.

AB1A Description
Nanomotion Ltd. Page 8 of 29
1AB1A Description
1.1 General
The AB1A is a single-axis Amplifier Box designed to drive up to 32 motor
elements in parallel.
The AB1A Card consists of DC/DC converters that provide the voltages
necessary to operate the amplifier circuit: +5V, ±12V, +3.3V. In addition, the
card contains two LED indicators and the external interface connectors for the
INPUT, MOTOR, and I/O signals.
The system configuration may require an LC Card that is connected 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 modes of operation: Velocity Mode, Step Mode, and
Gate Mode
Interfaces with an Analog command
Discrete inputs enable feedback from external sources, such as
limit switches, emergency stop command, etc.
LED indicators
Reduced sensitivity to cable length and capacitance
Compact dimensions

AB1A Description
Nanomotion Ltd. Page 9 of 29
1.3 Operating Principles
The AB1A Driver Box comprises the AB1A main card and an LC card. The
AB1A Card converts the analog input command signal into a corresponding
PWM square wave output signal that is fed to the LC Card. The LC 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
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 between the “UP” and the
“COMMON” terminals causes the motor to move in one direction, while voltage
applied between the “DOWN” and the “COMMON” terminals causes the motor
to move in the opposite direction.
Figure 2 is a schematic drawing of the power output.

Operating Principles
Nanomotion Ltd. 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

Connections and I/O Settings
Nanomotion Ltd. Page 11 of 29
2Connections and I/O
Settings
2.1 AB1A Front Panel
All AB1A connectors and indicators are located on the front panel. There are
three connectors Control Terminal, I/O Port, and Motor Out, and two indicators.
Figure 3: AB1A Driver Box Front Panel
The detailed description of the AB1A connectors and indicators is given sections
2.1.1 and 2.1.2 below.
Front Panel Connectors2.1.1
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 Port
D-type 25 pin connector female - Interfaces to the control source
(joystick or controller See also Table 9.

Connections and I/O Settings
Nanomotion Ltd. Page 12 of 29
Front Panel Indicators2.1.2
Condition
Alarm 1
Alarm 2
VCC < 4.6V
Off
Off
Motor Disconnected
Orange
Off
Motor Disabled
Off
Orange
Motor connected and
enabled.
Green
Off
Over-current Protection
Red
Red
2.2 Motion Controller/Joystick Connection
The AB1A Driver can receive the input 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 Connection2.2.1
There are two options of connecting a motion controller to the AB1A Driver Box:
Differential connection (see Figure 4)
Single-Ended Connection (see Figure 5)
The differential connection enhances noise immunity.

Connections and I/O Settings
Nanomotion Ltd. Page 13 of 29
4
10
22
12
Emergency Stop
Left Limit
Right Limit
GND
24
3
14
ENABLE
D-TYPE 25 PIN MALE
FAULT
Vin-
Vin+
1
InMode
16
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

Connections and I/O Settings
Nanomotion Ltd. Page 14 of 29
4
10
22
12
Emergency Stop
Left Limit
Right Limit
GND
24
3
9
14
ENABLE
D-TYPE 25 PIN MALE
FAULT
GND
Vin-
Vin+
1
InMode
16
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
GND
2
AB1A
Figure 5: Non-Differential (single-ended) Analog Input Connection.

Connections and I/O Settings
Nanomotion Ltd. Page 15 of 29
Joystick Connection2.2.2
Using the joystick for supplying the command voltage to the AB1A Driver Box
allows the user to manually drive the motor without using a motion controller.
4
10
22
12
Emergency Stop
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
M.DIS
PHASE
GND
D-Type 9-pin Female
Figure 6: Joystick Connection

Connections and I/O Settings
Nanomotion Ltd. Page 16 of 29
2.3 Cable Connections
Connect the following groups of cables together, isolating each of the signals:
POWER SUPPLIES –use 22 AWG (or lower AWG) wires for the
power supplies. For noisy surroundings, 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.
Shielding2.3.1
Since the high motor voltage is induced on the cable shield, it is required to
ground connection the shield on both sides. Both the driver 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. 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 configuration changes that may be
required.
Motor Cable Length2.4.1
The overall length of the cables that connect the AB1A Driver Box to the motor
elements should be in 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 if Nanomotion standard cables are used.

Connections and I/O Settings
Nanomotion Ltd. Page 17 of 29
2.5 Opto-isolated Inputs
The following inputs are opto-isolated and are activated by shorting them to
ground (see also Table 9):
Powering Up/Down
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

Connections and I/O Settings
Nanomotion Ltd. Page 18 of 29
Voltage Source Configuration2.5.1
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 +5V
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 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 circuit is limited to sink
up to 10 mA but not less than 3 mA.
Internal voltage source
External voltage source
Figure 8: Jumper 1 Configuration

Connections and I/O Settings
Nanomotion Ltd. Page 19 of 29
2.6 Fault Output
Fault: An open collector logic output that is active (shorted to ground) under the
following conditions:
The motor is not connected and the “Motor Connected” signal is
floating.
Emergency Stop activated.
NOTE:
The Fault output is capable of sinking a maximum of 20 mA, and is not
protected from over current.
2.7 Before Operating the Motor
Before operating the Motor connected 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 AB1A are
correctly mounted avd preloaded.
ATTENTION:
1. The command should be limited according to the
envelope of performance of the motor. Refer to
the Motor User Manual.
2. Driver should be grounded to infrastructure
earth before operating.

Thermal Envelope of Performance (EOP)
Nanomotion Ltd. Page 20 of 29
3Thermal Envelope of
Performance (EOP)
3.1 Description
Motor operating temperature is a result of the balance between heat generation
and heat dissipation.
The heat generation depends on motor's work regime (driver command
level).
The heat is dissipated through the following heat transfer mechanisms:
conduction, radiation and convection (the convection mechanism is
negligible in vacuum environment).
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 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 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 operation time and the total work cycle (operation time◘
+ idle time).
Upon operating a motion system in vacuum, it is expected that the Coefficient of Friction◘
of the bearing structure will increase. This may require changing the system operation
point on the thermal EOP curves.
3.2 Stage Heat Dissipation Consideration
The motor heat dissipation mechanism is by convection and radiation to the
motor case, and by conduction through motor’s ‘finger tips’. Hence, the motor
and the Ceramic Driving Strip bases, must both be thermally designed to
dissipate 2W each (per motor’s ‘finger tip’), with maximum temperature rise of
15C.