Johnson Electric Nanomotion XCD EDGE User manual

D/N: XCDE458000-00, Revision B May 23, 2012
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
XCD EDGE™
Controller Driver
User Guide

XCD Edge Controller Driver User Guide Copyright Notice
D/N: XCDE458000-00, Revision B 2
Copyright Notice
Copyright © 2011, 2012 by Nanomotion Ltd. All rights reserved worldwide. No part of
this publication may be reproduced, modified, transmitted, transcribed, stored in
retrieval system, or translated into any human or computer language, in any form or
by any means, electronic, mechanical, magnetic, chemical, manual, or otherwise,
without the express written permission of Nanomotion Ltd., Mordot HaCarmel
Industrial Park, Yokneam, 20692, Israel.
This document contains proprietary information and shall be respected as a
proprietary document with permission for review and usage given only to the rightful
owner of the equipment to which this document is associated.

XCD Edge Controller Driver User Guide Limited Warranty
D/N: XCDE458000-00, Revision B 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.

XCD Edge Controller Driver User Guide Patent Information
D/N: XCDE458000-00, Revision B 4
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
(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)

XCD Edge Controller Driver User Guide Patent Information
D/N: XCDE458000-00, Revision B 5
Revision History
Ver/Rev Date ECO Details
00/B 05/23/2012 CO-0433 Deleted reference to specific XCD Software version number.
Added patent and trademark information.

XCD Edge Controller Driver User Guide Table of Contents
D/N: XCDE458000-00, Revision B 6
Table of Contents
About this Guide....................................................................................................................7
Contact Information...............................................................................................................8
1Safety.............................................................................................................................9
2Overview......................................................................................................................10
3XCD EDGE Controller Driver Interfaces ....................................................................12
3.1 Functional Interface.........................................................................................12
3.2 Mechanical Interface.......................................................................................13
3.3 Electrical Interface...........................................................................................14
4Technical Data ............................................................................................................18
5Ordering Information..................................................................................................18

XCD Edge Controller Driver User Guide Table of Contents
D/N: XCDE458000-00, Revision B7
About this Guide
Scope
This user guide provides the required information for interfacing with the XCD
EDGE Controller Driver.
Intended Users
This user guide is intended for engineers or technicians directly involved in
installation, operation and maintenance of positioning systems and control
systems.
Reference Documentation
•XCD Software User Manual – use the software version applicable to installed
Nanomotion controller.
•XCD EDGE Motherboard User Guide, D/N: XCDE458100
•EDGE Motor User Manual, D/N: MSP4458000 (available on Nanomotion
website www.nanomotion.com)
Glossary
D/N
Document Number
FW
Firmware
GPIO
General Purpose Input / Output
I2C (IIC) Inter-Integrated Circuit
Serial Communication Interface
I/O Input/Output
MB
Motherboard
NM
Nanomotion
P/N
Part Number
SW
Software Version
XMS
XCD Motion Script

XCD Edge Controller Driver User Guide Safety
D/N: XCDE458000-00, Revision B 8
Contact Information
Website: www.nanomotion.com
Customer Service
Contact your local distributor or email Nanomotion Ltd. Technical Support
Department at [email protected], with detailed problem description,
additions, corrections or suggestions.
Nanomotion Ltd. Worldwide Headquarters
Mordot HaCarmel Industrial Park
HaYetsira Street, PO Box 623
Yokneam 20692
Tel: [phone]
Fax: [phone]
Email: [email protected]
Nanomotion Inc - US Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma
NY 11779
Tel: [phone]
Fax: [phone]
Email: [email protected]

XCD Edge Controller Driver User Guide Safety
D/N: XCDE458000-00, Revision B 9
1 Safety
WARNING!
•
Keep your hands off the XCD EDGE Controller Driver while the it is turned on.
Approaching your fingers to the XCD EDGE Controller Driver, may result in an
electrical shock.
CAUTION:
Use the XCD
EDGE Controller Driver only for the purposes and tasks described in
this manual
, or in related documentation.
Always perform tasks according to the instructions provided in the documentation.

XCD Edge Controller Driver User Guide Overview
D/N: XCDE458000-00, Revision B 10
2 Overview
The XCD EDGE™ Controller Driver is a controller and driver for Nanomotion
EDGE motor. This single-axis, compact motion controller operates in linear driving
mode.
The XCD EDGE is an open frame controller driver and it can be installed as piggy
back on a motherboard.
The controller driver provides positioning control for one axis, with configurable
motion profile and servo parameters.
The XCD EDGE Controller Driver supports user programming, using a Nanomotion
proprietary XCD Motion Script (XMS).
With the XMS script, the user can define a complex sequence of motions along
with sophisticated calculations and execution control. The user can store a
preprogrammed XMS program in the controller's flash memory, and execute it at
power up.
XCD EDGE Controller Driver Features
•Power supply +5V
•Supports I2C, UART, and SPI communication protocols
•Supports user-programming, using XMS
•2 Limit Switches
•4 GPIO lines
•3 Anlog inputs
•Emergency Stop input signal

XCD Edge Controller Driver User Guide Overview
D/N: XCDE458000-00, Revision B 11
The XCD EDGE Controller Driver Connections Diagram
The diagram describes the XCD EDGE Controller Driver connected to the XCD
Motheboard. The XCD Motherboard is designed for XCD EDGE Controller Driver
evaluation and development purposes.
XCD Edge Controller Driver
I
2
C
I/O
UART (TXD / RXD)
Analog Input
Emergency
SPI
12V/5V 3.3V
Power
Encoder signal
XCD Edge Motherboard
Encoder
Connector Motor
Connectors
Motor
Connectors
Limit
Switch
Analog InputsI/O
Emergency
SPII
2
CRS232
Power Supply
12V

XCD Edge Controller Driver User Guide XCD EDGE Controller Driver Interfaces
D/N: XCDE458000-00, Revision B 12
3 XCD EDGE Controller Driver Interfaces
This section provides the required information for interfacing with the
XCD EDGE Controller Driver.
3.1 Functional Interface
Controlling the EDGE Motor through the XCD EDGE Controller Driver, using
the XCD EDGE Motherboard.
Operating the EDGE motor requires a setup consisting of the following
components:
1. A Host PC, running the XCD Commander application, SW version 1.0.
This SW is developed especially for evaluation and development
purposes.
2. An XCD EDGE Motherboard: either the XCD EDGE Motherboard, P/N:
XCDE150100-XX or a user-customized motherboard, that meets the
inerface requirements, as specified in section 3.
3. The XCD EDGE Controller Driver, FW version 1.1.0.4.
4. A single axis NM stage (or user-customized power stage) with mounted
EDGE motor.
5. A 12VDC power supply.
Serial
communication
Host PC
XCD Edge
Motherboard
XCD Edge
Controller Driver
Edge
Motor
Encoder
12Vdc Power
Supply

XCD Edge Controller Driver User Guide XCD EDGE Controller Driver Interfaces
D/N: XCDE458000-00, Revision B 13
3.2 Mechanical Interface
XCD EDGE Controller Driver Card - Side View
(all dimensions in are mm)
XCD EDGE Controller Driver Card - Top View
(all dimensions in are mm)

XCD Edge Controller Driver User Guide XCD EDGE Controller Driver Interfaces
D/N: XCDE458000-00, Revision B 14
3.3 Electrical Interface
XCD EDGE Controller Driver Card – Top View
XCD EDGE Controller Driver Card – Bottom View
Motor /
Encoder
Connector
Main
Connector

XCD Edge Controller Driver User Guide XCD EDGE Controller Driver Interfaces
D/N: XCDE458000-00, Revision B 15
Main Connector
Connector type on board: Samtec header, P/N: TMS-113-01-L-D-RA .
Mating connector: Samtec micro socket, P/N: SMS-113-01-X-D or
P/N: RSM-113-02-L-D-X.
Pin #
Pin Name
In/Out
Function
Comments
1 +5V Power 5Vdc Power Input Max power
consumption 2W
2 +5V Power 5Vdc Power Input Max power
consumption 2W
3 SPI_CLK Input SPI Clock
Future option
4 SPI_EN Input SPI Enable
5 MISO Input Master In Slave
Out
6 MOSI Output Master Out Slave
In
7 N.C. N.C. Not connected
8 N.C. N.C. Not connected
9 RXD Input RS232 Receive The controller receives
commands from the
host and sends back
the replies
10 TXD Output RS232 Transmit
11 SDA Bidirectional I2C Serial data The controller receives
commands from the
host and sends back
the replies
12 SCL Bidirectional I2C Serial clock
13 GPIO1 Output PPW Voltage level CMOS
3.3V.
The customer defines
I/O processing in XMS
14 GPIO2 N.C. Not connected
15 GPIO3 Output General Purpose
Digital Output 3
16 GPIO4 Ouput General Purpose
Digital Output 4
17 AN2 Input Analog Input 1 V range: 0V÷3.3V.
The customer defines
input processing in
XMS
18 AN1 Input Analog Input 2
19 EMERGENCY Input Emergency stop CMOS 3.3V V range:
0V÷3.3V
Table 1: Main Connector Pinout

XCD Edge Controller Driver User Guide XCD EDGE Controller Driver Interfaces
D/N: XCDE458000-00, Revision B 16
Pin # Pin Name In/Out Function Comments
20 AN3 Input Analog Input 3 V range: 0V÷3.3V
The customer defines
input processing in
XMS script
21 ANLG_OUT2 Output Analog Ouput 2
22 ANLG_OUT1 Output Analog Ouput 1
23 N.C. N.C. Not connected
24 PWM_OUT Output Keep alive For testing puposes
25 GND Ground System Ground
26 GND Ground System Ground
Table 2: Main Connector Pinout (Cont.)

XCD Edge Controller Driver User Guide XCD EDGE Controller Driver Interfaces
D/N: XCDE458000-00, Revision B 17
Motor / Encoder Connector
Connector type on board: Samtec header, P/N: TMS-111-01-L-S-RA.
Mating connector: Samtec micro socket, P/N: RSM-111-02-L-S-X or
P/N: SMS-111-01-X-S
Table 3: Motor / Encoder Connector Pinout
Pin
#
Pin Name
Input / Output
Description
1
ENCDR_PWR
Power
Encoder power out
2
A_5V
Input
Incremental signal
3
B_5V
Input
Incremental signal
4
INDEX_5V
Input
Reference mark
5
GND
Ground
System ground
6
LIMIT_SW_RIGHT
Input
Limit switch Right
7
LIMIT_SW_LEFT
Input
Limit switch Left
8
GND
Ground
System ground
9
P1
Output
Motor phase 1
10
COM
Output
Motor common
11
P2
Output
Motor phase 2

XCD Edge Controller Driver User Guide Technical Data
D/N: XCDE458000-00, Revision B 18
4 Technical Data
Dimensions:
35mm x 25mm x 10.65mm
Electrical:
Input power supply voltage: 5Vdc ±5%.
Maximum power consumption: 2W
Operating Temperature:
0ºC to +70ºC
Storage Temperature:
-40ºC to +50ºC
5 Ordering Information
Part Description
Part Number
XCD EDGE Controller Driver XCD-EDGE-BD-XX