Johnson Electric Nanomotion XCD HR User manual

Document No. XCDH458001-00 rev E August 2019
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
XCD HR
Motherboard
User Guide

XCD HR Motherboard User Guide Copyright Notice
Document No. XCDH458001-00 rev E 2
Copyright Notice
Copyright © 2011 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.
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

XCD HR Motherboard User Guide Copyright Notice
Document No. XCDH458001-00 rev E 3
sentence, NM shall not be liable to the Purchaser for personal injury or property
damages.
Patent Information
One or more of the patents listed in the following table may apply to Nanomotion
products.
5,453,653; 5,616,980; 5,714,833; 111597; 5,640,063; 6,247,338; 6,244,076;
,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)
Contact Information
Website: www.nanomotion.com
Customer Service
Contact your local distributor or email Nanomotion Ltd. Technical Support
Department at [e-mail], 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: [e-mail]
Nanomotion Inc - US Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma, NY 11779
Tel: [phone]
Fax: [phone]
Email: [e-mail]

XCD HR Motherboard User Guide Copyright Notice
Document No. XCDH458001-00 rev E 4
Revision History
ECO
Revision
Release
date
Details
CO-0433
00/B
May 2012
Deleted reference to specific XCD Software version number.
Added patent and trademark information
CO-0465
00/C
Aug. 2012
Added reference to XCD HR1, and list of Nanomotion patents
CO-0693
00/D
Jan. 2014
Revised images of the motherboard and added instructions for
use of SINGLE-ENDED encoder.
EC19000058
00/E
Aug.2019
Added P/N of MOTHERBOARD

XCD HR Motherboard User Guide Table of Contents
Document No. XCDH458001-00 rev E 5
Table of Contents
Contact Information...............................................................................................................3
About this Guide ....................................................................................................................6
Safety .............................................................................................................................7
Overview.................................................................................................................................8
XCD HR Motherboard Interface.............................................................................................9
Functional Interface ........................................................................................................9
Mechanical Interface.....................................................................................................10
Electrical Interface ........................................................................................................11
Encoder Connections...............................................................................................13
Limit Switch Connector.............................................................................................14
Analog Inputs Connector..........................................................................................15
I/O Connector...........................................................................................................16
I2C Serial Communication Connector .......................................................................17
RS232 Serial Communication Connector.................................................................17
Electrical Schematics ..........................................................................................................18

XCD HR Motherboard User Guide Contact Information
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About this Guide
Scope
This user guide provides the required information for interfacing with the XCD
HR Motherboard.
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 HR1/2/4 Controller Driver User Guide, D/N: XCDH458000.
XCD Software User Guide for installed firmware version
Glossary
D/N
Document Number
GPIO
General Purpose Input / Output
I2C (IIC)
Inter-Integrated Circuit
Serial Communication Interface
I/O
Input / Output
MB
Motherboard
NM
Nanomotion
PWM
Pulse-Width Modulation
P/N
Part Number
SPI
Serial Peripheral Interface
SW
Software
TP
Test Point

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Safety
WARNING!
Keep your hands off the XCD HR Motherboard while it is turned on.
Approaching your fingers to the XCD HR Motherboard, may result in an
electrical shock.\
Before operating the stage, ensure that the motor is grounded.
CAUTION:
Use the XCD HR Motherboard 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 HR Motherboard User Guide Overview
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Overview
Item Name
Product Number
XCD HR Motherboard
XCDH150100-XX
The XCD HR Motherboard is an interface connection board for the XCD HR1/2/4
Controller Driver. With the XCD HR Motherboard the user can easily access all signals
on the XCD HR1/2/4 Controller Driver.
The user can use the XCD HR Motherboard as a reference evaluation board for
designing a user-defined motherboard.
Figure 1. XCD Motherboard Major Componenet Locations

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Figure 2. XCD HR Motherboard Connections Diagram
XCD HR Motherboard Interface
This section provides the required information for interfacing with the XCD HR
Motherboard.
Functional Interface
Controlling an HR Motor Through the XCD HR Motherboard
Figure 3. System Connection

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Operating the HR1/2/4 motor requires a setup consisting of the following
components:
1. A Host PC, running the XCD Commander application version that is the
same as the FW version installed on the Controller Drive. This
application is developed especially for evaluation and development
purposes.
2. An XCD HR Motherboard: either the XCD HR Motherboard, P/N:
XCDH150100 or a user-customized motherboard that meets the inerface
requirements, as specified in section 0.
3. The XCD Controller Driver:
4. XCD HR1 –P/N XCD-HR1-BD-XX
5. XCD HR2 - P/N: XCD-HR2-BD-XX
6. XCD HR4 - P/N: XCD-HR4-BD-XX.
7. A single axis NM stage (or user-customized power stage) with mounted
HR1, HR2, or HR4 motor.
8. A 12VDC power supply.
Mechanical Interface
170.00
119.52
78.65 78.65
6.35
117.45
106.82 6.35
51.1742.70
Ø
Ø
Figure 4. XCD HR Motherboard - Top View (all dimensions are in mm)
Note:
Install the XCD HR Motherboard, using six 3x10 spacers, and six M3 mounting
screws to be inserted in the card mounting holes, marked red (see 6 holes
lengthwise the edge of the motherboard card).

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Electrical Interface
Figure 5. XCD HR Motherboard Connectors
Power Supply
Input power supply voltage: 12V DC ±5%.
Power Connector
Singatron Enerprize 2DC-0005D100 DC Power Jack (JP4).
Power Indicators
LED D5 indicates 5V power is on.
LED D6 indicates 12V power is on.

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Figure 6. XCD HR Motherboard Jumper Locations

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Encoder Connections
The XCD HR Motherboard supports operation of two types of encoders
(Differential, Single-ended). The default configuration is for a differential encoder.
To enable use of single-ended encoders refer to Singl-Ended Encoder on page
13.
Differential Encoder
Connect the differential encoder to P1 on the Motherboard.For mating connector
use: DB, 15 pins, male connector.
Table 1: Encoder Connector Pinout
Pin
Pin Name
In/Out
Function
1
N.C.
N/A
Not connected
2
0V
Power
DC power out
3
N.C.
N/A
Not connected
4
Z-/Q-
Input
Reference mark
5
B-
Input
Incremental signal
6
A-
Input
Incremental signal
7
5V
Power
DC power out
8
5V
Power
DC power out
9
0V
Power
DC power out
10
N.C.
N/A
Not connected
11
N.C.
N/A
Not connected
12
Z+/Q+
Input
Reference mark
13
B+
Input
Incremental signal
14
A+
Input
Incremental signal
15
Shield
N/A
Shorted to the shield

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Single-Ended Encoder
Connect the single-ended encoder to J22 on the Motherboard. Place jumpers on
J20, J21, and J22. Refer to Figure 6 for jumper locations.
Warning:
Ensure that P1 has no connection.
Limit Switch Connector
Enables internal limit switches. To enable external limit switches remove the
jumpers.
NOTE:
Jumper JP19-1, 2 shorts to ground Limit Switch Right.
Jumper JP19-3, 4 shorts to ground Limit Switch Left.
Figure 7. Table 1: Limit Switch Connector Pinout
Header, 3 friction lock (J17). For mating connector use: Molex Crimp terminal
housing (P/N: 22-29-2031), with Molex Crimp terminal pins (P/N: 0008500113).
Table 2: Limit Switch Connector
Pin #
Name
In/Out
Function
1
LS Right
Input
Limit Switch signals can be used if an axis is
equiped with limit switch sensors indicating if the
axis is too close to hard stop.
By default, when the signals are active low; i.e. zero
level, causes fault: stops motion, XMS program.
2
LS Left
Input
3
GND
Ground
System ground

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Analog Inputs Connector
Use this connector for connecting analog signals (range 0 –3.3 V) to be
processed in XMS script.
Three terminal blocks (J35, J36, J37).
Figure 8. Table 2: Analog Inputs Connector Pinout
Table 3: Analog Input
Pin
Name
In/Out
Description
J35 - 1
AN1
Input
Analog Input 1 (voltage range of 0 ÷ 3.3V)
J35 - 2
GND
Ground
System ground
J36 - 1
AN2
Input
Analog Input 2 (voltage range of 0 ÷ 3.3V)
J36 - 2
GND
Ground
System ground
J37 - 1
AN3
Input
Analog Input 3 (voltage range of 0 ÷ 3.3V)
J37 - 2
GND
Ground
System ground

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I/O Connector
Use this connector to connect digital signals (CMOS 3.3 V levels) to be processed
in XML script. Connections are across five terminal blocks (J33, J28, J29, J30,
J31). To disable the inputs place jumpers on J34 connectors.
Figure 9. Table 3: I/O Connector Pinout
Table 4: I/O Connector
Name
Pin
In/Out
Jumper
to
Disable
Description
Emergency
Stop
J33 - 1
Input
J34 1-2
Emergency input signal, CMOS 3.3V.
Default is active low (zero), causes fault
and stops motion.
J33 - 2
Ground
System ground
GPIO_1
J28 - 1
Input
J34 3-4
CMOS 3.3V.
Customer defined.
J28 - 2
Ground
System ground
GPIO_2
J29 - 1
N.C.
J34 5-6
Not connected
J29 - 2
Ground
System ground
GPIO_3
J30 - 1
Output
J34 7-8
CMOS 3.3V.
Customer defined.
J30- 2
Ground
System ground
GPIO_4
J31 - 1
Output
J34 9-10
CMOS 3.3V.
Customer defined.
J31 - 2
Ground
System ground

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I2C Serial Communication Connector
Header, 6 shrouded (J13).
For mating connector use: IDC socket 6 pins CVILUX CA21-06-S-A-1-0,
with Strain Releaf CA21-06-S-R-1-0.
Figure 10. Table 4: Limit Switches Connector Pinout
Table 5: IIC Serial Communication Connector
Pin
Name
In/Out
Description
1
SDA
Bi-directional
Serial data
2
SCL
Bi-directional
Serial clock
3
5V
Power
5VDC power out
4
GND
Ground
System ground
5
5V
Power
5VDC power out
6
GND
Ground
System ground
RS232 Serial Communication Connector
DB Type, 9 pins, female connector (P3). For mating connector use: DB Type, 9
pins, male connector.
Table 6: Encoder Connector Pin out
Pin #
Signal Name
In/Out
Function
1
N.C
NA
Not connected
2
RS232-TxD
Output
RS232 transmit line
3
RS232-RxD
Input
RS232 receive line
4
N.C.
NA
Not connected
5
GND
Ground
System ground
6-9
N.C.
NA
Not connected

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Electrical Schematics
Figure 11. XCD HR Motherboard Electrical Schematics –sheet 1

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Document No. XCDH458001-00 rev E 19
Figure 1. XCD HR Motherboard Electrical Schematics –sheet 2