Nanomotion XCDX1 User manual

XCDX1 Driver and Controller Installation Guide
Copyright Notice
DN XCDX458001-00,Revision A
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Copyright Notice
Copyright © 2020 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

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XCDX1 Controller Driver Installation Guide
Patent Information
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.
7,439,652; 7,247,971; 7,211,929; 7,199,507; 7,183,690;7,119,477; 7,075,211;
7,061,158; 6,979,936; 6,879,085; 6,747,391; 6,661,153; 6,617,759; 6,473,269;
6,384,515; 6,367,289; 6,247,338; 6,244,076; 6,064,140; 5,877,579; 5,777,423;
5,714,833; 5,696,421; 5,682,076; 5,640,063; 5,616,980; 5,453,653; 8,514,301;
8,351,104; 7,876,509; 8,760,037; 2,458,146; 2,458,758; 2,446,428; 1,721,346;
1,186,063; 1,800,356; 1,577,961; 6, 993, 2359; 1,186,063;1,577,961; 4,317,508;
4,484,652; 4,813,708; 5,420,171; 5,591,754; 1,014,54917; 6,994,1195;
6,020,050,245,94; 0,633,616; 3,869,044; 1,127,380; 1,131,853; 3,869,162; 3,981,683;
1,049,829; 0,712,170; 6,983,8991; 2,980,541; 1,127,380; 6,942,974,4; 9,806,640;

XCDX1 Controller Driver Installation Guide
Patent Information
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Revision History
Ver/Rev
Date
ECO
Details
00/A
14.01.2020
Initial Release

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XCDX1 Controller Driver InstallationGuide
Table of Contents
About this Guide....................................................................................................................6
Contact Information...............................................................................................................7
1 Safety.............................................................................................................................8
2 Overview........................................................................................................................8
3 Technical Data ..............................................................................................................8
4 User Interface................................................................................................................9
4.1 Mechanical Interface.........................................................................................9
4.2 Electrical Interface...........................................................................................10
5 Communication and Control......................................................................................13
6 Installation Guidelines................................................................................................13

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About this Guide
Scope
This guide provides the XCDX1™Controller Driver mechanical interface
information, electrical interface, software interface information, and installation
guidelines of the XCDX1 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 –(D/N XCD0458004-XX USER MANUAL, XCD FW VER
1.6).
Glossary
COM
Common
D/N
Document Number
IIC (I2C)
Inter-Integrated Circuit
GND
Ground
NM
Nanomotion
LED
Light-Emitting Diode
P/N
Part Number
XCDX1
XCDX1 Controller Driver

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Contact Information
Website: www.nanomotion.com
Customer Service
Contact your local distributor or email Nanomotion Ltd. Technical Support Department
at techsupport@nanomotion.com, with detailed problem description, additions,
corrections or suggestions.
Nanomotion Ltd. Worldwide Headquarters
Mordot HaCarmel Industrial Park
HaYetsira Street, PO Box 623
Yokneam 20692
Tel: +972-73-249-8000
Fax: +972-73-249-8099
Email: nano@nanomotion.com
Nanomotion Inc - US Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma
NY 11779
Tel: +1-800-8216266
Fax: +1-631-5851947
Email: nanoUS@nanomotion.com

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1 Safety
WARNING!
Before operating the XCDX1, verify it is grounded.
For safe usage of the XCDX1, carefully read the following instructions:
1. Do not open the XCDX1 box.
2. Turn off power before connecting or disconnecting any of the XCDX1 cables.
3. Do not cover the ventilation holes on the top panel of the XCDX1 box.
2 Overview
Nanomotion’s XCDX1 Controller Driver redefines the art of miniaturized drive and
control electronics with the smallest available hardware for operating piezo ceramic
servo motors. The XCDX1 provides a complete servo control solution, including the
power stage and drive electronics in a single compact enclosure.
It has interfaces for connecting the motor, position sensor, communications and
power.
The XCDX1 is provided as a single axis solution, which can drive the HR1,HR2 or
HR4 motor and operate in Linear mode, or in the more traditional Normal mode. It
accepts a differential quadrature encoder signal and is programmed via an IIC
interface and the NanoCommander Software application.
3 Technical Data
Dimensions:
130mmx140mmx45mm.
Electrical:
Input power supply voltage: 12V±5%.
Maximum power consumption: 30W.
Motor Cable:
Cable length limits <10m default over 10m contact supplier
Operating Temperature:
0ºC to +50ºC.
Storage Temperature:
-40ºC to +50ºC.
Regulatory Compliance
•
Meets EN55022 class B Emission requirements.
•
RoHS (Restriction of the Use of Certain Hazardous Substances in Electrical and
Electronic Equipment).

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4 User Interface
4.1 Mechanical Interface
(all dimensions are in
mm)

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4.2 Electrical Interface
Fault LED Indicator
When a controller error is detected in the XCDX1, the Fault LED lights up (the
LED is set to ON and error massage can be read in Host communication
channel).
Table 1: Controller Errors
Error Code
Error Description
101
Position error
102
Software Limit Switch
103
Hardware Limit Switch
104
Emergency
105
Motor not connected
106
Time Out
Power LED Indicator
The Power LED indicator lights up when the XCDX1 is turned on.

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Motor Connector
D-Sub, 9 pin, Male connector.
Table 2: Motor Connector Pinout
Pin #
Pin Name
Description
1
GND
System ground
3
Motor_Up
Connected to the white motor terminal
4
Motor_Common
Connected to the black motor terminal
5
Motor_Down
Connected to the red motor terminal
6
Motor_Connected
Safety input: shorted to pin 1 in order to
prevent controller driver's operation
without the motor
7
Shield
Shorted to the shield
2, 8, 9
N.C.
Not connected
Encoder Connector
D-Sub, 15 pin, Female connector.
Table 3: Encoder Connector Pinout
Pin #
Pin Name
Description
1
A+
Incremental signal
2,10
GND
System ground
3
B+
Incremental signal
4, 12
5V
Power out
7
I-
Reference mark
9
A-
Incremental signal
11
B-
Incremental signal
14
I+
Reference mark
5, 6, 8,
13, 15
N.C.
Not connected

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Power Connector
MiniFit, 4 pin connector (Molex P/N: 39-30-1042).
For the mating connector, use Molex connector P/N: 39-01-2045.
Table 4: Power Connector Pinout
Pin #
Pin Name
Description
1, 2
Vin RET
Voltage In Return
3, 4
12V±5%
Voltage In
RS232 Connector
D-Sub, 9 pin, Female, Right angle connector.
Table 5: RS232 Connector Pinout
Pin #
Pin Name
Description
2
TXD
RS232 Transmit Signal
3
RXD
RS232 Receive Signal
5
GND
System ground
1,4,6,7,8,
9
N.C.
Not Connected
4
2
3
1

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5 Communication and Control
Operating Nanomotion motor(s) requires the setup described below, and is achieved
with the Nanocommander Software application (version 1.6.0.9).
Host Computer
Serial
communication
XCD Controller Driver
Controller Driver HR Motor/s
Encoder
Control of the XCDX1 is covered in the XCD Firmware 1.6.0.9 User Manual (D/N:
XCD0458004-XX).
6 Installation Guidelines
1. Install the XCDX1 box using four M3 mounting screws to be inserted in the
XCDX1 box mounting holes.
2. Connect Motor, Encoder and RS232 cables.
3. Connect Power cable.
4. Turn on the power supply.
5. Verify that the POWER LED indicator lights up.
6. Run XCD commander or Host application on PC.
7. System is ready to run.
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