Nanomotion AB1B-3U Driver User manual

D/N: AB1B458000-00 REV: B August 29, 2012
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
AB1B-3U Driver
User Manual

AB1B-3U Driver 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 2009-2012, Yokneam, Israel. All rights reserved.
All products and company names are trademarks or registered trademarks of
their respective holders.

AB1B-3U Driver 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 (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)

Nanomotion Ltd. 4
Revision History
Revision Release date Details
00/A Dec 2009 New Release
00/B Dec. 2011 Update the EOP chapgter
NA
Aug. 2012
Administrative change – added patent information
section in front matter.

AB1B-3U Driver User Manual
Nanomotion Ltd. 5
This page is intentionally left blank.

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 6
Table of Contents
1INTRODUCTION..............................................................................................................9
General...................................................................................................................91.1
Main Features.......................................................................................................101.2
Available Configurations .......................................................................................111.3
Configuration Examples........................................................................................121.4
A Six (6) Elements Configuration............................................................121.4.1
A 32 Elements Configuration..................................................................121.4.2
AB1B-3U Operating Principle................................................................................131.5
General ..................................................................................................131.5.1
Driver's Operation Principle....................................................................131.5.2
2CONNECTING THE AB1B-3U DRIVER.........................................................................14
Wires and Connectors ..........................................................................................142.1
Motor Cable Connections......................................................................................142.2
Before Operating the Motor...................................................................................152.3
3AB1B-3U OPERATING..................................................................................................16
Operation Modes ..................................................................................................163.1
Velocity Mode Operation........................................................................163.1.1
Step Mode Operation .............................................................................173.1.2
Gate Mode .............................................................................................173.1.3
4TECHNICAL DATA........................................................................................................18
Specifications........................................................................................................184.1
Thermal Envelope of Performance (EOP).............................................................194.2
Description.............................................................................................194.2.1
Stage Heat Dissipation Consideration....................................................204.2.2
Thermal EOP for HR Motors Driven by the AB1B-3U Driver ................................204.3

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 7
An Example for Defining the EOP for AB1B-3U Driver in Vacuum4.3.1
Environment ......................................................................................................22
Front Panel LED Indicators...................................................................................234.4
Front Panel Description..........................................................................234.4.1
LED Indicators........................................................................................234.4.2
Mother Board (MB) Interface Connector ...............................................................244.5
MB Interface Connector Pinout...............................................................244.5.1
MB Interface Connector Pinout (Cont.)...................................................254.5.2
Opto-isolated Inputs ...............................................................................264.5.3
Voltage Source Configuration.................................................................274.5.4
Fault Output ...........................................................................................284.5.5
AB1B-3U Mechanical Layout................................................................................294.6
Mechanical Enclosure Design...............................................................................294.7
5PART NUMBERING METHODOLOGY..........................................................................30
6CONTACT INFORMATION............................................................................................31
Nanomotion Ltd. Headquarters.............................................................................316.1
Nanomotion Inc. (US) Headquarters.....................................................................316.2

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 8
List of Figures
Figure 1: AB1B-3U Driver .....................................................................................................9
Figure 2: Block Diagram of a Typical Application of the AB1B-3U Driver.............................13
Figure 3: Motor Velocity vs. Command ...............................................................................20
Figure 4: Motor Force vs. Velocity at the Various Work Regimes (a-g) ..............................21
Figure 5: AB1B-3U Front Panel...........................................................................................23
Figure 6: Opto-Isolated Input Interface................................................................................26
Figure 7: JP1 Configuration.................................................................................................27
Figure 8: Layout and Mechanical Dimensions.....................................................................29
List of Tables
Table 1: AB1B Configurations, Using HR Motor Types .......................................................11
Table 2: A Six (6) Elements Configuration...........................................................................12
Table 3: A 32 Elements Configuration.................................................................................12
Table 4: AB1B-3U Driver Specifications..............................................................................18
Table 5: EOP Table for HR Motors Driven by AB1B-3U Driver............................................21
Table 6 : Front Panel LED Indicators ..................................................................................23
Table 7: MB Interface Connector Pinout (Cont.)..................................................................25

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 9
1 Introduction
This manual is designed to help the reader to operate the AB1B-3U 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 AB1B-3U driver is a single-axis card level amplifier for driving Nanomotion
Piezo-Ceramic motors. The AB1B-3U driver interfaces between the input
command from a controller to the motor and drives the Piezo motor. The
AB1B-3U driver is designed to drive up to 48 Nanomotion HR motor elements
in parallel in 3 channels of up to 16 elements.
Figure 1: AB1B-3U Driver
The AB1B-3U driver includes of an integrated LC circuit, front panel with LED
indicators and a Mother Board (MB) Interface connector (see section 4.5.2 and
section 4.4.2 for details).
MB Interface connectorFront panel

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 10
Main Features1.2
•High precision (11 bits) control of the power output stage
•Drives up to 48 HR motor elements in 3 channels of up to
16 elements in parallel
•Interface with an Analog command
•Discrete inputs enable feedback from external sources,
such as emergency stop command, etc.
•LED indicators
•Output short circuit protection

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 11
Available Configurations1.3
The AB1B driver card has three (3) output channels (CH). The configurations
described in Table 1 must follow the conditions below:
•CH1 must always be connected.
•CH2 and CH3 are optional.
•CH2 and/or CH3, if connected, must have the same motor type as CH1.
•For configurations, having more than one identical motors connected per
channel, use suitable branch cable, see section 2.2 for more details.
Channel
Configurations
Up to 24 Elements (no branch cable) 32 or 48 Elements(with
branch cable)
CH1
HR1
HR2
HR4
HR8
HR1
HR2
HR4
HR8
HR1
HR2
HR4
HR8
2xHR8
CH2 -
HR1
HR2
HR4
HR8
HR1
HR2
HR4
HR8
2xHR8
CH3 - -
HR1
HR2
HR4
HR8
2xHR8
Table 1: AB1B Configurations, Using HR Motor Types

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 12
Configuration Examples1.4
A Six (6) Elements Configuration1.4.1
Table 2 shows a six (6) elements configuration, using 3xHR2 motors:
Channel Up to 24 Elements (no branch cable) 32 or 48
Elements(with
branch cable)
CH1 HR2 - - -
CH2 HR2 - - -
CH3 HR2 - - -
Table 2: A Six (6) Elements Configuration
A 32 Elements Configuration1.4.2
Table 3 shows a 32 elements configuration, using 4xHR8 motors,
connected by branch cables:
Channel Up to 24 Elements (no branch cable) 32 or 48
Elements(with
branch cable)
CH1 - - - 2xHR8
CH2 - - - 2xHR8
CH3 - - - -
Table 3: A 32 Elements Configuration.

AB1B-3U Driver User Manual Introduction
Nanomotion Ltd. 13
AB1B-3U Operating Principle1.5
General1.5.1
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.
Driver's Operation Principle1.5.2
The AB1B-3U driver converts the analog input command signal into a
corresponding PWM square wave output signal. The PWM signal is
fed into the integrated LC circuit. The LC circuit outputs a sine wave
voltage that drives the motor. Figure 2 illustrates a typical application
of the AB1B-3U Driver.
Figure 2: Block Diagram of a Typical Application of the AB1B-3U
Driver
Note:
The LC circuit type and configuration should be according to the number of motor◘
elements driven.
DC
Converter Amplifier Circuit LC
+48V Power
Source
Command
Source
Nanomotion
motor

AB1B-3U Driver User Manual Connecting the AB1B-3U Driver
Nanomotion Ltd. 14
2 Connecting the AB1B-3U Driver
WARNING!
To prevent minor electric shock hazard, the driver must be grounded to infrastructure
earth.
Wires and Connectors2.1
•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.
Motor Cable Connections2.2
Nanomotion guarantees proper driver and motor performance only when
Nanomotion standard cables are used.
•The Motor_Connected_In interlock is available at the motor connector,
(refer to Nanomotion motor user manual). It disables high voltage on the
bare driver output connector, when the motor is not connected.
•The allowed maximum total motor cable length (connecting the AB1B-3U
driver to the motor/s) is up to 10 meters for the HR motor.
•Use a suitable branch cable if more than two identical motors are
connected to a channel (CH). The available branching cables are for
motors operating either side by side (P/N: MIC-2-U) or head to head (P/N:
MIC-2-R). Branch cables must be of identical length. Their total length
should not exceed the allowed total cable length.

AB1B-3U Driver User Manual Connecting the AB1B-3U Driver
Nanomotion Ltd. 15
Before Operating the Motor2.3
Before operating the AB1B-3U, verify the following:
•The motor type matches the driver configuration.
•All motors are properly mounted and preloaded.
•Jumper JP1 is set to the required mode of operation (see section 4.5.4 for
more details).
•The external power supply is capable of supplying the required power
consumption of the AB1B-3U driver.
•There is no command from the Controller.

AB1B-3U Driver User Manual AB1B-3U Operating
Nanomotion Ltd. 16
3 AB1B-3U Operating
CAUTION:
The command should be limited according to the motor Envelope of Performance
(see to section Error! Reference source not found. for more details).
Operation Modes3.1
The AB1B-3U driver can be operated in one of the three operation modes
listed below:
•Velocity (AC) Mode:the motor is driven continuously.
•Step Mode: the driver output, defined in the hardware, turned OFF and
ON, in predefined intervals of 1/16 sec every 1/2 sec, thus driving the
motor in discrete steps.
•Gate Mode: the motor is driven at low velocity by turning the driver output
ON and OFF in time intervals defined by outside TTL signal in an open
loop.
Velocity Mode Operation3.1.1
In this operation mode, the motor is driven continuously by applying
the analog command voltage (± 10 V), using a relevant interface
device.
This mode is driver's default operation mode.

AB1B-3U Driver User Manual AB1B-3U Operating
Nanomotion Ltd. 17
Step Mode Operation3.1.2
In this operation mode, the driver output to the motor is turned ON and
OFF for fixed time intervals defined in the hardware, as follows:
•ON phase - 1/16 second
•OFF phase - 0.5 second
The amplitude of the output corresponds to the analog command input
value and thus determines the speed of the motor.
To enable the Step Mode: short pin B10 (of the MB Interface
connector) to ground (see section 4.5, Table 7).
Gate Mode3.1.3
In this operation mode the motor is driven in open loop at low
velocities by turning the driver output ON and OFF in time intervals
defined by an external switching.
The amplitude of the output corresponds to the analog input value and
thus determines the speed of the motor.
In Gate Mode, as opposed to Step Mode, the pulse width and pulse
frequency are user-defined.
The allowable parameter values for the external signal are as follows:
•Voltage level: 0V (ON); 5V (OFF). The open collector logic can be
used as an option.
•Minimum pulse width: 50 µsec.
•Maximum pulse frequency: 1 kHz.
To enable the Gate Mode: short pin Z14 to ground. Verify that pin
B10 is not shorted to ground at the same time. Conduct now the
external switching signal through pin B10 (see and section 4.5,
Table 7).

AB1B-3U Driver User Manual Technical Data
Nanomotion Ltd. 18
4 Technical Data
Specifications4.1
Electrical Specifications
Power Input
+ 48 Vdc ±5%
(stabilized)
Current Consumption w/o Load
64 mA @ 48 Vdc
Power Consumption w/o Load
3.5W
Recommended Power Supplies
Supply Voltage Maximum Current
Consumption Applicable For
+48 Vdc ±5%
≤600mA
E4
≤2.2A
E16
≤7A
E48
Physical Properties
Weight
450g
Environmental Conditions
Enclosure Ambient Temperature
0°C to 45°C
Storage Temperature
- 40°C to 70°C
Analog Input Specifications
Input voltage range
±10V
Input impedance
10kΩ
Input low pass filter
2.7 kHz
Table 4: AB1B-3U Driver Specifications

AB1B-3U Driver User Manual Technical Data
Nanomotion Ltd. 19
Thermal Envelope of Performance (EOP)4.2
Description4.2.1
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 4.3). 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.

AB1B-3U Driver User Manual Technical Data
Nanomotion Ltd. 20
Stage Heat Dissipation Consideration4.2.2
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.
Thermal EOP for HR Motors Driven4.3
by the AB1B-3U Driver
Figure 3 illustrates motor velocity as a function of the applied driver
command voltage. Allowing up to 30 mm/sec variations, use it as a
reference and as a guideline for expected motor performance:
0
50
100
150
200
250
300
0 1 2 3 4 5 6 7 8 9 10
Velocity [mm/sec]
Command (V)
Figure 3: Motor Velocity vs. Command1
Figure 4 and Table 5 are designed to help the user determining the
correct envelope of performance and avoid overheating and damaging
the motor.
1The motor operates horizontally at room temperature and low duty cycle (< 10%). It interfaces with
the Ceramic Driving Strip (according to Nanomotion Specifications) and a cross-roller high quality