Nanomotion AB1A-3U User manual

D/N: AB3U458000-00 REV: F August 29, 2012
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
AB1A-3U Driver
User Manual

Limited Warranty
Nanomotion Ltd. Page 2 of 29
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 2003-2012, Yokneam, Israel. All rights reserved.
All products and company names are trademarks or registered trademarks of their
respective holders.

CE Compliance
Nanomotion Ltd. Page 3 of 29
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.

Limited Warranty
Nanomotion Ltd. Page 4 of 29
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)

CE Compliance
Nanomotion Ltd. Page 5 of 29
Revision History
ECO Revision Release date Details
NA NA Aug. 2012 Administrative change – added patent information
section in front matter.

Limited Warranty
Nanomotion Ltd. Page 6 of 29
CE Compliance
This product has been tested for Electric Safety and
Electromagnetic Compatibility inside a closed shielded metal
cabinet and was found to be in compliance with the following
directives and standards:
EMC Directive 89/336/EEC
FCC 47 CFR part 15 subpart B.
LVD directive 73/23/EC, Article 5
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, class A
EN 61010-1:2001

Table of Contents
Nanomotion Ltd. Page 7 of 29
Table of Contents
Patent Information...........................................................................................................4
Revision History ...............................................................................................................5
1AB1A-3U DESCRIPTION...............................................................................................10
1.1 General .................................................................................................................10
1.2 Main Features .......................................................................................................10
1.3 Operating Principles..............................................................................................11
1.4 Operation Modes...................................................................................................12
1.4.1 Velocity Mode Operation............................................................................13
1.4.2 Step Mode Operation.................................................................................13
1.4.2.1 Enabling the Step Mode...........................................................................13
1.4.3 Gate Mode Operation.................................................................................13
1.4.3.1 Enabling the Gate Mode..........................................................................14
1.5 Using the AB1A-3U to Drive LS Motors.................................................................14
2CONNECTIONS AND I/O SETTINGS............................................................................15
2.1 Motion Controller Connection................................................................................15
2.2 Cable Connections................................................................................................15
2.2.1 Shielding ....................................................................................................16
2.3 Motor Connections................................................................................................17
2.3.1 Motor Cable Length....................................................................................18
2.4 Opto-isolated Inputs..............................................................................................19
2.4.1 Voltage Source Configuration.....................................................................19
2.5 Fault Output ..........................................................................................................21
2.6 LED Indicators.......................................................................................................21
2.7 Before Operating the Motor...................................................................................22
3THERMAL ENVELOPE OF PERFORMANCE (EOP) ....................................................23
3.1 Description............................................................................................................23
3.2 Stage Heat Dissipation Consideration...................................................................24
3.3 Thermal EOP for HR Motor Driven by AB1A, AB1A-3U, AB2 AB4 Drivers ............24
4SPECIFICATIONS .........................................................................................................26
4.1 Parameters and Conditions...................................................................................26
4.2 AB1A-3U Layout....................................................................................................27
4.3 AB1A-3U Pin Arrangement....................................................................................28

Lists
Nanomotion Ltd. Page 8 of 29
List of Figures
Figure 1: AB1A-3U Block Diagram .................................................................................11
Figure 2: Schematic Diagram of the Output Stage with an Internal LC Card...................12
Figure 3: Differential Analog Input Connection................................................................15
Figure 4: Non-Differential (single ended) Analog Input Connection.................................15
Figure 5: J1 Connection to a Motor or Branch Cable ......................................................17
Figure 6: Jumper 2 Configuration ...................................................................................20
Figure 7: Opto-Isolated Input Interface ...........................................................................20
Figure 8: LED Indicators.................................................................................................22
Figure 9: Motor Velocity vs. Command...........................................................................24
Figure 10: Motor Force vs. Velocity at the Various Work Regimes (a-g).........................25
Figure 11: AB1A-3U Layout............................................................................................27
List of Tables
Table 1: EOP Table for HR Motors Driven by AB1A, AB1A-3U, AB2, AB4.....................25
Table 2: AB1A-3U Power Consumption..........................................................................26
Table 3: Electrical Specifications....................................................................................26
Table 4: Environmental Conditions.................................................................................26
Table 5: Analog Input Specifications...............................................................................27
Table 6: Dissipated Heat ................................................................................................27
Table 7: Input/Output Connector Pin Out........................................................................28

List of Abbreviations
Nanomotion Ltd. Page 9 of 29
List of Abbreviations
A Ampere
AC Alternating Current
DC Direct Current
LC Coil Capacitor Resonance Circuit
LED Light Emitting Diode
mA Milliampere
mW Milliwatt
TTL Transistor-Transistor Logic
Vrms Volts Root Mean Square
ATTENTION:
HIGH VOLTAGE ON CARD.
OPERATE ONLY INSIDE A CLOSED, SHIELDED METAL
CABINET.

AB1A-3U Description
Nanomotion Ltd. Page 10 of 29
1AB1A-3U Description
1.1 General
The AB1A-3U is a single-axis motor driver designed to drive up to 32 motor
elements in parallel. The motor types that can be driven by AB1A-3U are HR, LS, ST
and STM.
1.2 Main Features
•High precision (11 bits) control of the power output stage
•Drives up to 32 Nanomotion motor elements in parallel
•Interfaces with an Analog command
•Discrete inputs enable feedback from external sources, such
as limit switches, emergency stop command, etc.
•LED indicators
•Output short circuit protection
•Reduced sensitivity to cable length and capacity

AB1A-3U Description
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1.3 Operating Principles
The AB1A-3U Driver comprises the AB1A-3U main card and an LC card. The AB1A-
3U Card converts the analog input command signal into a corresponding PWM
square wave output signal that is fed to the LC Card. The LC Card produces the sine
wave output voltage that drives the motor.
The LC Card type and configuration depends on the number of motor elements
driven.
•For 1 to 16 elements, the LC circuit is internal to the AB1A-3U
•For 32 elements, the LC circuit is external to the AB1A-3U (LC
Box)
An internal DC-to-DC converter that is fed from an external +48V power supply
supplies the required DC voltages.
Figure 1 illustrates a typical application of the AB1A-3U Driver.
Figure 1: AB1A-3U Block Diagram

AB1A-3U Description
Nanomotion Ltd. Page 12 of 29
The motor has three terminals: “UP” (red wire), “DOWN” (white wire) and
“COMMON” (black wire). The voltage applied between the “UP” and the “COMMON”
terminals causes the motor to move in one direction, while voltage applied between
the “DOWN” and the “COMMON” terminals causes the motor to move in the
opposite direction.
Figure 2 is a schematic drawing of the power output.
+48v
H-BRIDGE
DIRECTION
CONTROL
NANOMOTION
MOTOR
COMMON
UP
DOWN
"Common"
"Phase"
"Up"
"Down"
LC Card
AC output that drives
the motor
AB1A3U
PWM -Square wave on
the amplifier output
Figure 2: Schematic Diagram of the Output Stage with an Internal LC Card
1.4 Operation Modes
The AB1A-3U can be operated in one of the following operation modes:
•Velocity Mode, in which the motor is driven continuously.
•Gate Mode, in which 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.
•Step Mode, in which the driver output is turned OFF and ON
at predefined intervals, in order to drive the motor in discrete
steps.

AB1A-3U Description
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1.4.1 Velocity Mode Operation
In this operation mode, the motor is driven continuously by applying the analog
command voltage (± 10 V) using a relevant interface device (joystick or motion
controller).
1.4.2 Step Mode Operation
In this operation mode 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 input value and thus
determines the speed of the motor.
1.4.2.1 Enabling the Step Mode
In order to enable the Step Mode, the B10 pin (see Table 7) should be shorted to the
ground. By default, neither B10 nor Z14 (see section 1.4.3.1) is shorted to the
ground, so that the user can select the required connection.
1.4.3 Gate Mode Operation
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). Open collector logic is also an
option.
•Minimum pulse width: 50 µsec
•Maximum pulse frequency: 1 kHz

AB1A-3U Description
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1.4.3.1 Enabling the Gate Mode
In order to enable the Gate Mode, the Z14 pin (see Table 7) should be shorted to the
ground. Verify that the B10 pin is not shorted to the ground at the same time.
Once Z14 is shorted to the ground, the driver is in Gate Mode. Conduct now the
external switching signal through pin B10 (see also section 1.4.2.1).
1.5 Using the AB1A-3U to Drive LS Motors
Under normal conditions, the LS series of motors should not be operated with
command voltage exceeding 3.5V. To allow some margin in cases, which require
momentarily use of higher power, the AB1A-3U for the LS series of motors is limited
to 5V.
Nanomotion expects that during normal operation, the commanding controller should
protect the motor, and assumes that in continuous operation the command will not
exceed 3.5V. The protection scheme is as follows: the torque limit at the controller
must be set to half of the maximum command voltage (5V), and be limited to 5
seconds. The controller RMS torque limit must be set to 35% of the full command.

Connections and I/O Settings
Nanomotion Ltd. Page 15 of 29
2Connections and I/O
Settings
2.1 Motion Controller Connection
There are two options of connecting a motion controller to the AB1A-3U driver:
•Differential connection (see Figure 3)
•Single-Ended Connection (see Figure 4)
The differential connection enhances noise immunity.
From
controller
Vin+
Vin-
AB1A-3U
Figure 3: Differential Analog Input Connection
From
controller
Vin+
Vin-
AB1A-3U
Gnd
Figure 4: Non-Differential (single ended) Analog Input Connection.
2.2 Cable Connections

Connections and I/O Settings
Nanomotion Ltd. Page 16 of 29
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.
2.2.1 Shielding
As the high motor voltage is induced on the cable shield, it is required to ground the
shield on both motor and driver sides to the infrastructure earth.

Connections and I/O Settings
Nanomotion Ltd. Page 17 of 29
2.3 Motor Connections
The “Motor Disconnect” signal is available only at the motor (or branch cable)
connector, where it is shorted to ground. 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 AB1A-3U Driver Box, use a suitable
branch cable or extension cable, as supplied by Nanomotion.
If the motor type or the number of motor elements is changed, consult Nanomotion
for the appropriate LC Card configuration and other driver configuration changes
that may be required.
Figure 5: J1 Connection to a Motor or Branch Cable
(B4,D4,Z4)

Connections and I/O Settings
Nanomotion Ltd. Page 18 of 29
2.3.1 Motor Cable Length
The overall length of the cables that connect the AB1A-3U driver to the motor
elements should be in accordance with the following:
•Up to 2 motor elements – 5m
•4 – 32 motor elements – 10m
NOTE:
Use Nanomotion standard cables. Branching is possible to 2 and 4
identical motors. Branch cables must be of identical length, the
sum of which not exceeding the allowed total cable length.
NOTE: Nanomotion can guarantee proper driver and motor performance
only when Nanomotion standard cables are used.

Connections and I/O Settings
Nanomotion Ltd. Page 19 of 29
2.4 Opto-isolated Inputs
The following inputs are opto-isolated and are activated by shorting them to ground
(see also Table 7):
•Powering Up/Down
♦Motor Connected: Safety input. The motor
operation is enabled only when this input is
shorted to the ground.
♦Enable: Enables the motor activation
♦Emergency Stop (ES): Disables the AB1A-3U
output
•Mode Enabling
♦Step Mode: Enables Step Mode operation
•Direction Restrictions
♦Left Switch: Disables motor motion to the left
♦Right Switch: Disables motor motion to the
right
2.4.1 Voltage Source Configuration
The opto-isolated input signals are activated as short-to-ground. The voltage for the
opto-isolated circuit (see Figure 7) is provided by either the internal +3.3V supply
(default setting) or an external voltage supply via pin 20 on the I/O Port connector.
The input to be activated should be shorted to external voltage supply ground.
Configure jumper JP 2 (located near LC card) on the AB1A-3U card according to
the voltage source:
•Pin 1 shorted to Pin 2, for an internal +3.3V source (factory
setting)
•Pin 2 shorted to Pin 3, for an external voltage source
ATTENTION:
Do not short Pin 1 to Pin 3 on JP2. Doing so shorts the external
power supply to the +3.3V supply! The input circuit is limited to
sink up to 10 mA but not less than 3 mA.

Connections and I/O Settings
Nanomotion Ltd. Page 20 of 29
Internal voltage source External voltage source
Figure 6: Jumper 2 Configuration
To control
logic
VCC
AB1A-3U
VCC
User Voltage
Command Input
390Ω
JP2
1
Figure 7: Opto-Isolated Input Interface