Nanomotion AB2 User manual

Nanomotion Ltd. POB 223, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
AB2 Driver
User Manual
September 2003
P/N: AB02 458 000 A

Copyright and Warranty
i
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 July 2003, 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

CE Compliance
ii
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.

Table of Contents
iii
Table of Contents
1AB2 DESCRIPTION ..........................................................................................................................1
1.1 General ................................................................................................................................1
1.2 Main Features......................................................................................................................1
1.3 Operating Principles ............................................................................................................2
2CONNECTIONS AND I/O SETTINGS...............................................................................................4
2.1 Front Panel Description .......................................................................................................4
2.1.1 Front Panel Connectors.......................................................................................................5
2.1.2 Front Panel LED Indicators .................................................................................................5
2.2 Motion Control Interfaces ....................................................................................................6
2.2.1 Analog Controller Connection..............................................................................................6
2.2.2 Joystick Connection.............................................................................................................9
2.3 Cable Connections ............................................................................................................10
2.3.1 Shielding ............................................................................................................................10
2.4 Motor Connections ............................................................................................................10
2.4.1 Motor Cable Length ...........................................................................................................11
2.5 Opto-isolated Inputs ..........................................................................................................11
2.5.1 Voltage Source Configuration............................................................................................12
2.6 Fault Output.......................................................................................................................13
2.7 Before Operating the Motor ...............................................................................................13
3AB2 OPERATION ...........................................................................................................................14
3.1 Operation Modes ...............................................................................................................14
3.1.1 Velocity Mode Operation ...................................................................................................14
3.1.2 Step Mode operation .........................................................................................................14
3.1.2.1 Enabling the Step Mode ....................................................................................................15
3.1.3 Gate Mode Operation ........................................................................................................15
3.1.3.1 Enabling the Gate Mode....................................................................................................15
3.1.4 DC Mode Operation...........................................................................................................15
3.1.4.1 Enabling the DC Mode ......................................................................................................16
4SPECIFICATIONS...........................................................................................................................17
4.1 Parameters and Conditions ...............................................................................................17
4.2 AB2 Layout ........................................................................................................................19
4.3 AB2 Pin Arrangement........................................................................................................20

List of Figures
Nanomotion Ltd.
iv
List of Figures
Figure 1: AB2 Block Diagram............................................................................................ 2
Figure 2: Schematic Diagram of the Output Stage in a Single Motor Configuration......... 3
Figure 3: AB2 Driver Box Front Panel............................................................................... 4
Figure 4: Differential Analog Input Connection ................................................................. 7
Figure 5: Non-Differential (single-ended) Analog Input Connection. ................................ 8
Figure 6: Joystick Connection........................................................................................... 9
Figure 7: Opto-Isolated Input Interface ........................................................................... 11
Figure 8: Jumper 3 Configuration ................................................................................... 12
Figure 9: Typical DC Mode Behaviour ............................................................................ 16
Figure 10: AB2 Layout .................................................................................................... 19

List of Tables
v
List of Tables
Table 1: LED indicators..................................................................................................... 5
Table 2: AB2 Power Consumption.................................................................................. 17
Table 3: Electrical Specifications .................................................................................... 17
Table 4: Physical Proprties ............................................................................................. 17
Table 5: Environmental Conditions ................................................................................. 18
Table 6: Analog Input Specifications............................................................................... 18
Table 7: DC Mode Specifications.................................................................................... 18
Table 8: Control Terminal Pin Out .................................................................................. 20
Table 9: Motor Output Port Pin Out ................................................................................ 20
Table 10: I/O Port Pin Out............................................................................................... 21

List of Abbreviations
Nanomotion Ltd.
vi
List of Abbreviations
A Ampere
AC Alternating Current
DC Direct Current
LED Light Emitting Diode
mA Milliampere
mW Milliwatt
TTL Transistor-Transistor Logic
Vrms Volts Root Mean Square

AB2 Driver Box User Manual
AB2 Description
1
1 AB2 Description
1.1 General
The AB2 is a single-axis 24V amplifier box designed to drive up to 16
Nanomotion motor elements. Its main feature is the ability to drive motors in the
“Piezo Actuator” mode of operation, or “DC Mode”, which enables the motors to
achieve superior position resolution and accuracy in the range of a few
nanometers on target. Currently, the motors driven by the AB2 are the HR types
and the ST.
1.2 Main Features
• High precision (11 bits) control of the output power stage
• Drives up to two HR8 motors.
• Four operation modes: Velocity, Step, Gate and DC.
• Interface to an analog command
• Discrete inputs enabling feedback from external sources
such as limit switches, emergency stop command, etc.
• Tricolor LED indicators
• Over Current, Over Voltage, and No Load protections
• Minimized sensitivity to cable lengthening
• Compact dimensions

AB2 Description
Operating Principles
Nanomotion Ltd.
2
1.3 Operating Principles
The AB2 Box consists of a single card (command source) that converts the input
command signal into a corresponding PWM output signal. In this mode the
output transformer-amplifier circuit converts the PWM output signal into a high
voltage sine wave that drives the motor. The PWM controller is power-fed from
an internal DC-to-DC converter that is fed from an external +24V power supply.
The AB2 card consists of DC/DC converters that provide the voltages necessary
to operate the amplifier circuit: +5V, ±12V. In addition, the card contains two
indicators LED’s and the external interface connectors for the CONTROL,
MOTOR, and I/O signals.
Figure 1 illustrates a typical application of the AB2 Driver Box.
Figure 1: AB2 Block Diagram
This square wave from the PWM Controller is filtered through the serial
inductance circuit and fed to the push-pull transformer circuit to produce a sine-
wave high output voltage on the secondary coil of the transformer. The
secondary coil and the motor capacitance serve as the LC resonance circuit.
The motor is a three-terminal component: “UP”, “DOWN” and “COMMON.” The
voltage applied between the “UP” and “COMMON” terminals causes the motor to
move in one direction; while voltage applied between the “DOWN” and
“COMMON” terminals causes the motor to move in the opposite direction. Figure
2 is a schematic drawing of the power output.
Power Supply
DC-to-DC
Converter
Input Amplifier and
PWM Controller
NM Moto
r
PWM Transforme
r
Push-Pull
Resonant Driver
Command
Source
24VDC
PWM Output AB2
+5V, ±12V
High Voltage

AB2 Driver Box User Manual
AB2 Description
3
PWM
CONTROLLE
DISCRETES
INPUTS
ANALOG
INTERFACE
emergancy
enable,
right & left
serial data Powe
r
stage
volta
g
e feedback
DC to DC converter
(
5v, +12v, -12v
)
+24V , 5
A
Transforme
r
To
moto
r
+Vin,-Vin
mode
motor
connector
average
current
i
over voltage
protection
ditherring
Motor
PWM drive
Direction
Moto
r
frequency
secondary over voltage
protection
ad_directio
Figure 2: Schematic Diagram of the Output Stage in a Single Motor Configuration

Connections and I/O Settings
Front Panel Description
Nanomotion Ltd.
4
2 Connections and I/O
Settings
2.1 Front Panel Description
The AB2 front panel (see Figure 3) contains the following connectors and
indicators:
• Control Terminal
• Motor Output port
• I/O port
• Enable/Fault Indicators
• Ground Screw
•
•
Figure 3: AB2 Driver Box Front Panel

AB2 Driver Box User Manual
Connections and I/O Settings
5
2.1.1 Front Panel Connectors
2.1.2 Front Panel LED Indicators
Table 1: LED indicators
POWER ENABLE
Vcc < 4.6V Off Off
Vcc > 4.6V; Motor not connected Green Off
Motor connected and disabled Green Orange
Motor enabled Green Green
Over Current / Over Voltage Green Red
Connector Description
Control
terminal
5-pin connector – Provides input from an external +24 VDC power supply
(5A maximum).
Provides direct control of the motor ENABLE signal.
The primary voltage (+24V) is supplied from an external source.
I/O Port D-type 25 pin connector female - Interfaces to the control source (joystick or
controller)
Motor Out D-type 9-pin connector male -Interfaces to the motor.
See also Table 8, Table 9 and Table 10

Connections and I/O Settings
Motion Control Interfaces
Nanomotion Ltd.
6
2.2 Motion Control Interfaces
The AB2 Driver Box can receive the input signals either from a motion controller
or from a joystick. The schematic diagrams of the motion controllers and joystick
connections to the AB2 Driver Box are provided in following sections.
NOTE:
The motor may be operated with minimum control signals applied
to the Control Terminal:
+24V,GND POWER, +VIN, -VIN, ENABLE_IN.
2.2.1 Analog Controller Connection
There are two options of an analog connection of a motion controller to the AB2
Driver Box:
• Differential connection (see Figure 4)
• Single-Ended Connection (see Figure 5)
The differential connection enhances noise immunity.

AB2 Driver Box User Manual
Connections and I/O Settings
7
D-Type 25 Pin Male
D-Type 25 Pin Female
2x LEDS
1
23
4
5
24V
GND
ENABLE
Vin+
Vin-
DC
POWER
SUPPLY
NANOMOTION
Motor
3451 6 7
UP
COM
DOWN
GND
M.CON
GND
AB2
Block Terminal Male
D Type 9 Pin Female
D Type 9 Pin Male
AB2 Card
4
10
22
12
Emergency Stop
Left Limit
Right Limit
GND
24
3
14
ENABLE
FAULT
Vin-
Vin+ 1
PLANT
Vout+
Vout-
CONTROLLER
STATUS
ENABLE
Twisted and shielded cable
Shield
Figure 4: Differential Analog Input Connection
The other option of an analog controller connection is the single-ended
connection.

Connections and I/O Settings
Motion Control Interfaces
Nanomotion Ltd.
8
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
D-Type 25 Pin Female
2x LEDS
1
23
4
5
24V
GND
ENABLE
+Vin
-Vin
DC
POWER
SUPPLY
PLANT
+Vout
-Vout
CONTROLLER
STATUS
ENABLE
Twisted and shielded cable
NANOMOTION
Motor
3451 6 7
UP
COM
DOWN
GND
M.CON
GND
Shield GND
2
AB2
Block Terminal Male
D Type 9 Pin Female
D Type 9 Pin Male
AB2 Card
Figure 5: Non-Differential (single-ended) Analog Input Connection.

AB2 Driver Box User Manual
Connections and I/O Settings
9
2.2.2 Joystick Connection
Using the joystick for supplying the command voltage to the AB2 Driver Box
allows the user to manually drive the motor without using a motion controller.
D-Type 25 Pin Male
D-Type 25 Pin Female
2x LEDS
1
23
4
5
24V
GND
ENABLE
+Vin
-Vin
DC
POWER
SUPPLY
NANOMOTION
Motor
3451 6 7
UP
COM
DOWN
GND
M.CON
GND
AB2
Block Terminal Male
D Type 9 Pin Female
D Type 9 Pin Male
AB2 Card
4
10
22
12
Emergency Stop
Left Limit
Right Limit
GND
24
3
9
11
ENABLE
FAULT
-12V
+12V 23
PLANT
Vout+
JOYSTICK
Status
Twisted and shielded
GND
P
O
T
E
N
TI
O
M
E
T
E
R
Vin+ 1
Shield
2
GND
Vin- 14
Figure 6: Joystick Connection

Connections and I/O Settings
Cable Connections
Nanomotion Ltd.
10
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.
2.3.1 Shielding
Since the high motor voltage is induced on the cable shield, it is required to
ground the shield on both sides. Both the driver card 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 (see Table 9). 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 AB2 Driver Box, 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.

AB2 Driver Box User Manual
Connections and I/O Settings
11
2.4.1 Motor Cable Length
The maximum allowed total cable length connecting the AB2 to the motor(s) is
20 meters for the HR types and 10 meters for the ST.
NOTE:
Use Nanomotion standard cables. Branching is possible to two and
four identical motors. Branch cables must be of identical length, the
sum of which not exceeding the allowed total cable length.
Nanomotion can guarantee proper driver and motor performance
only when Nanomotion standard cables are used.
2.5 Opto-isolated Inputs
The following inputs are opto-isolated and are activated by shorting them to
ground; See also Table 10:
• Powering
♦ Emergency Stop. Disables the AB2 output.
♦ Enable_In. Should be activated before the motor can be run.
• Mode Enabling
♦ Step_In. Enables Step/Gate operation Modes.
♦ DC Mode. Activates the DC mode of operation.
• Direction Restrictions
♦ Left SW. Disables the motor motion to the left.
♦ Right SW. Disables the motor motion to the right.
To control
logic
VCC
A
B4
VCC
User Voltage
Command Input
390
Ω
Jumper 3
1
Figure 7: Opto-Isolated Input Interface

Connections and I/O Settings
Opto-isolated Inputs
Nanomotion Ltd.
12
2.5.1 Voltage Source Configuration.
The opto-isolated input signals (2.2.1) are activated as short-to-ground. The
voltage for the opto-isolated circuit (see Figure 8) is provided by either the
internal +5V supply (default state) or an external voltage supply via pin 13 on the
I/O Port connector. The input to be activated should be shorted to external
voltage supply ground.
Configure jumper JP 1 on the AB2 card according to the voltage source:
• Pin 1 shorted to Pin 2, for an internal +5V source (default
factory setting)
• Pin 2 shorted to Pin 3, for an external voltage source
Connection for
Internal source
T1
JP1
1
T1
JP1
1
Connection for
External source
Figure 8: Jumper 3 Configuration
ATTENTION:
Do not short Pin 1 to Pin 3 on JP3. 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.