Johnson Electric Nanomotion AB5 User manual

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D/N: AB05458200-02 rev B April 2015
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
AB5 and AB51 Drivers
User Manual
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AB5 and AB51 Drivers User Manual Copyright
Nanomotion Ltd. 2
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 2004-2012, Yokneam, Israel. All rights reserved.
All products and company names are trademarks or registered trademarks of their
respective holders.
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AB5 and AB51 Drivers User Manual Limited Warranty
Nanomotion Ltd. 3
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 to determine 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.
Patent Information
Nanomotion products are covered under one or more of the following registered or
applied for patents.
5,453,653; 5,616,980; 5,714,833; 111597; 5,640,063; 6,247,338; 6,244,076;
6,747,391; 6,661,153; 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
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AB5 and AB51 Drivers User Manual CE Compliance
Nanomotion Ltd. 4
(pending); GB2009000003796 (pending); 12/398,216 (pending); GB2446428;
12/517,261 (pending); 08702695.1 (pending); 10-2009-7017629 (pending);
12/524,164 (pending); 12/581,194 (pending)
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AB5 and AB51 Drivers User Manual CE Compliance
Nanomotion Ltd. 5
Revision History
ECO Revision Release
date Details
00/A Oct. 2005 New release
00/B June 2007 Document update
00/C July 2007 Added T.P. feature
01/A Aug. 2008 Document update
02/A Feb 2011 Updated EOP tables, graphs, examples, T.P. schemes, T.P.
content
NA NA Aug. 2012 Administrative change – added patent information section in front
matter.
0863 02/B April 2015 Added max motor output voltage to environmental list on page 27
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AB5 and AB51 Drivers User Manual CE Compliance
Nanomotion Ltd. 6
CE Compliance
This product was tested for Electrical Safety and Electromagnetic Compatibility.
It conforms 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.
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AB5 and AB51 Drivers User Manual Revision History
Nanomotion Ltd. 7
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AB5 and AB51 Drivers User Manual Table of Contents
Nanomotion Ltd. 8
Table of Contents
1INTRODUCTION............................................................................................................12
1.1 General.................................................................................................................12
1.2 Main Features.......................................................................................................13
1.3 AB5 Operating Principle........................................................................................14
2CONNECTING THE AB5/AB51 DRIVER.......................................................................15
2.1 Quick Instructions for Connecting the Driver.........................................................15
2.1.1 Wires and Connectors............................................................................16
2.1.2 Motion Control Interfaces .......................................................................16
2.1.3 Motor Cable Connections.......................................................................20
2.2 Before Operating the Motor...................................................................................21
3AB5/AB51 OPERATING................................................................................................22
3.1 Operation Modes ..................................................................................................22
3.1.1 Velocity Mode Operation........................................................................22
3.1.2 Step Mode Operation .............................................................................22
3.1.3 Brake_On Mode.....................................................................................23
3.2 Set_Offset Procedure ...........................................................................................23
3.2.1Description.............................................................................................23
3.2.2 Setting the Offset....................................................................................24
4MOTOR CONDITIONING USING THE AB5/AB51 DRIVER ..........................................25
4.1 Introduction...........................................................................................................25
4.2 The Conditioning Procedure .................................................................................25
5TECHNICAL DATA........................................................................................................27
5.1 Specifications........................................................................................................27
5.2 Thermal Envelope of Performance (EOP).............................................................28
5.2.1 Description.............................................................................................28
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AB5 and AB51 Drivers User Manual Table of Contents
Nanomotion Ltd. 9
5.2.2 Stage Heat Dissipation Consideration ....................................................29
5.2.3 EOP for HR Motors Driven by AB5, AB51 Drivers..................................29
5.3 TP (Thermal Protection)........................................................................................33
5.3.1 Description.............................................................................................33
5.3.2 TP Configurations...................................................................................34
5.3.3Benefits of Thermal Protection ...............................................................35
5.3.4 The TP Feature Implementation.............................................................36
5.3.5 How It Works..........................................................................................38
5.4 Front Panel Connectors and Indicators.................................................................40
5.4.1 Front Panel Description..........................................................................40
5.4.2 LED Indicators........................................................................................40
5.4.3 Control Terminal Block Pinout................................................................41
5.4.4 Motor Output Port Pinout........................................................................41
5.4.5 I/O Port Connector Pinout ......................................................................42
5.5 I/Os.......................................................................................................................43
5.5.1 Opto-isolated Inputs...............................................................................43
5.5.2 Voltage Source Configuration.................................................................44
5.5.3 Fault Output ...........................................................................................45
5.6 AB5/AB51 Layout .................................................................................................46
6PART NUMBERING METHODOLOGY..........................................................................47
7CONTACT INFORMATION............................................................................................48
7.1 Customer Service .................................................................................................48
7.2 General Inquiries and Ordering.............................................................................48
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AB5 and AB51 Drivers User Manual Lists of Figures and Tables
Nanomotion Ltd. 10
List of Figures
Figure 1: AB5 Driver Box ....................................................................................................12
Figure 2: AB5 Driver Front Panel ........................................................................................15
Figure 3: Differential Analog Input Connection....................................................................17
Figure 4: Single-ended (non-differential) Analog Input Connection.....................................18
Figure 5: Joystick Connection.............................................................................................19
Figure 6: Velocity vs. Command Using the AB5/AB51 Driver..............................................30
Figure 7: Force vs. Velocity Using the AB5/AB51 Driver at the Various Work Regimes
(a-h).......................................................................................................................31
Figure 8: TP Mechanism Block Diagram.............................................................................36
Figure 9: DIP Switch Location inside the AB5/AB51 Driver Box..........................................36
Figure 10: DIP Switch Position Map....................................................................................37
Figure 11: Thermal Protection Sequence............................................................................39
Figure 12: Opto-Isolated Input Interface..............................................................................43
Figure 13: Jumper 2 Configuration......................................................................................44
Figure 14: Layout and Mechanical Dimensions...................................................................46
List of Tables
Table 1: Front Panel Connectors ........................................................................................16
Table 2: AB5/AB51 Driver Specifications ............................................................................27
Table 3: EOP Table for HR Motors Driven by AB5 (Standard LUT)....................................31
Table 4: EOP Table for HR Motors Driven by the AB51 Driver (Reduced LUT)..................32
Table 5 : Front Panel LED Indicators ..................................................................................40
Table 6: Control Terminal Block Pinout...............................................................................41
Table 7: Motor Output Port Pinout.......................................................................................41
Table 8: I/O Port Connector Pinout .....................................................................................42
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AB5 and AB51 Drivers User Manual List of Abbreviations
Nanomotion Ltd. 11
List of Abbreviations
A Ampere
AC Alternating Current
DC Direct Current
LED Light Emitting Diode
mA milli Ampere
mW milli Watt
PWM Pulse Width Modulation
TTL Transistor-Transistor Logic
Vrms Volts Root Mean Square
DIP Dual-In-line Package
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AB5 and AB51 Drivers User Manual Introduction
Nanomotion Ltd. 12
1 Introduction
This manual is designed to help the reader to operate the AB5/AB51 driver. It assumes that
the reader has a fundamental understanding of basic servo systems, as well as motion
control concepts and applicable safety procedures.
General1.1
The AB5 is a single axis amplifier box for driving Nanomotion Piezo-Ceramic
motors. The AB5 amplifier box interfaces between the input command from a
controller or joystick to the motor and drives the Piezo motor. It facilitates a
linear response of the motor and eliminates the “dead zone”, previously
associated with Piezo-Ceramic motor operation.
The AB5 amplifier box consists of three main cards. The Logic and Driver
cards are common to all AB5 configurations, while the Personality card is
configuration specific and can be replaced by an authorized technician, to drive
a different motor (in the HR family).
Figure 1: AB5 Driver Box
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AB5 and AB51 Drivers User Manual Introduction
Nanomotion Ltd. 13
An additional, related model is the AB51 driver, built identically to the AB5 but
carrying a different firmware. The AB51 is designed to have a minimal
controlled Dead Zone, which is beneficial in Z applications or in repetitive
Start/Stop mode of operation. The AB51 feeds less driving power into the
motor at low commands, thus facilitating the controlled Dead Zone, mentioned
above, while maintaining the motor at a lower operating temperature. The
AB51 driver should be chosen in general applications, unless a perfect servo
tracking or very low ripple constant velocity is needed, where AB5 is
preferable.
Main Features1.2
•High precision (11 bits) control of the output power stage.
•Zero Dead Band in AB5 and minimal Dead Band in AB51.
•Drives up to four HR8 motors.
•Four operation modes: Velocity, Step, and Brake On/Off.
•Interface to an analog command.
•Modular design, to allow replacement of configuration specific Personality
cards.
•Discrete inputs enabling feedback from external sources, such as: limit
switches, Emergency_Stop command, etc.
•Three color LED indicators.
•Over Current, Over Voltage, and motor interlock protections.
•Minimized sensitivity to cable length.
•User defined Enable input logic.
•Thermal Protection mechanism
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AB5 and AB51 Drivers User Manual Introduction
Nanomotion Ltd. 14
AB5 Operating Principle1.3
The force transfer of the Nanomotion motor is based on friction of the motor’s
elements and the drive strip. This drive mechanism has many advantages, like
high precision, zero backlash, inherent brake and more. Nevertheless, it poses
a control challenge at low command due to non linearity, an effect known in
Nanomotion User Manuals, as the “Dead Zone”.
The AB5 driver is designed to eliminate the Dead Zone and to facilitate a linear
response from 0 (zero) command level. This design allows easily controlling
the driver by off-the-shelf servo controllers.
The linear response is achieved by the dual excitation of the up/down direction
of the motor. The difference between the excitations determines the direction
and velocity of the motion. When the up and down directions are activated with
equal excitation, the stage does not move and the effect is of reduced friction.
By gradually increasing the difference between the up and down excitations,
the motor begins driving the stage smoothly and continuously. Increasing the
difference will increase the velocity. Thus a linear response is achieved with no
apparent “Dead Zone”.
The linear feature is achieved by an effective higher excitation of the motor,
causing a higher operating temperature. The higher temperature is permitted
as long as the user adheres to the stiffness requirements and the EOP outlined
in section 5.2 in this manual.
WARNING!
To prevent minor electric shock hazard, the ground screw, located on the bottom
left of the front panel, must be connected to the infrastructure earth.
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AB5 and AB51 Drivers User Manual Connecting the AB5/AB51 Driver
Nanomotion Ltd. 15
2 Connecting the AB5/AB51 Driver
For connecting the driver to the system, refer to Figure 3: Differential Analog Input
Connection or Figure 4: Single-ended (non-differential)
Analog Input Connection.
Quick Instructions for Connecting the Driver2.1
For connections refer to Figure 2, below.
Figure 2: AB5 Driver Front Panel
1. Connect motor's cable (for details refer to section 2.1.3) to driver's Motor
connector (refer to Table 1).
2. Connect the 25 pins flat cable to driver's I/O port connector (for details
refer to section 2.1.1) for analog or Joystick connection (for details refer to
section 2.1.2).
3. Connect the power supply wires to driver's Terminal block (for details refer
to section 2.1.1).
4. Plug in the terminal cable to the driver's mating connector.
5. Read the instructions in section 2.2 before operating the motor.
6. Turn the power on and continue to Chapter 3 for Driver Operation.
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AB5 and AB51 Drivers User Manual Connecting the AB5/AB51 Driver
Nanomotion Ltd. 16
Wires and Connectors2.1.1
•Power supply: use 22 AWG (or lower AWG) wires for the power
supply. 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.
Connector Description
Control
terminal
5 pin connector. Receives +24V from an external source
and provides direct control over the motor ENABLE signal
and the analog control signal (+Vin and/or -Vin). (Mating
connector is by Wieland, P/N 25.621.0553.0). See Table 6
for connector pinout.
I/O Port
Connector 25 pins D-type female connector. Interfaces to the control
source (joystick or controller). See Table 8 for connector
pinout.
Motor
Output Port 9 pins D-type male connector. Interfaces to the motor.
See Table 7 for connector pinout.
Table 1: Front Panel Connectors
Motion Control Interfaces2.1.2
The AB5/AB51 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 to the AB5/AB51 driver are
provided in following sections.
Note:
The motor may be operated from the Terminal block using the following signals: +24V,◘
GND, +Vin, -Vin, Enable.
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AB5 and AB51 Drivers User Manual Connecting the AB5/AB51 Driver
Nanomotion Ltd. 17
Analog Controller Connection2.1.2.1
There are two options of an analog connection of a motion
controller to the AB5/AB51 driver:
•Differential connection (see Figure 3)
•Single-Ended (Non-differential) Connection (see Figure 4)
The differential connection enhances noise immunity.
AB5/AB51
D-Type 25 Pin
24 Enable
1 +24V
2 Gnd
7 Gnd
6 Motor _Connected
1 Gnd
5 Down
4 Com
3 Up
1 Vin +
14 Vin -
3 Fault
Terminal block
5 Pin
D-Type 9 Pin
Controller
Enable
Status
Shield
-Vout
+Vout
Twisted and shielded cable
DC power supply
Gnd
2 Gnd
Motor
Figure 3: Differential Analog Input Connection
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AB5 and AB51 Drivers User Manual Connecting the AB5/AB51 Driver
Nanomotion Ltd. 18
AB5/AB51
1 +24V
2 Gnd
7 Gnd
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
Controller
Enable
Status
Shield
- Vout (or Gnd)
+Vout
Twisted and shielded cable
DC power supply
6 Motor
_Connected
Motor
Figure 4: Single-ended (non-differential)
Analog Input Connection.
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AB5 and AB51 Drivers User Manual Connecting the AB5/AB51 Driver
Nanomotion Ltd. 19
Joystick Connection2.1.2.2
Using the joystick for supplying the command voltage to the
AB5/AB51 driver allows the user to manually drive the motor
without using a motion controller.
AB5/AB51
1 +24V
2 Gnd
7 Gnd
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
Joystick
Shield
+10V
+Vout
Twisted and shielded cable
DC power supply
23 +10V
2 Gnd
-10V
24 Enable
6 Motor _Connected
Motor
Figure 5: Joystick Connection
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