Nanomotion EDGE User manual

EDGE458001-01 REV:A Dec 2016
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
EDGE & EDGE-4X
Motors
User Manual

Motor User Manual Copyright
Nanomotion Ltd. 2
Copyright
This document contains proprietary information of Nanomotion Ltd., and may not
be reproduced in any form without prior written consent from Nanomotion Ltd.
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: 2011-2012, 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 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.

Motor User Manual Limited Warranty
Nanomotion Ltd. 3
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.

Motor User Manual Limited Warranty
Nanomotion Ltd. 4
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)

Motor User Manual Limited Warranty
Nanomotion Ltd. 5
Revision History
Revision
Date
Details
00/A
July 2011
New release
NA
August 2012
Administrative change – added patent information to the front
matter.
00/B
July 2013
Corrected the related documents on page 8
01/A
Nov 2016
Add EDGE-4X and combine to one User manual for EDGE &
EDGE-4X family motors

Motor User Manual Table of Contents
Nanomotion Ltd. 6
Table of Contents
1GENERAL......................................................................................................................10
General Handling Guidelines.................................................................................101.1
Reference Documentation.....................................................................................101.2
2INTRODUCTION............................................................................................................11
The EDGE Motor...................................................................................................112.1
The EDGE-4X Motor .............................................................................................112.2
EDGE & EDGE-4X Motor Features.......................................................................112.3
3MOTOR OPERATION....................................................................................................13
Operation Principle of EDGE & EDGE-4X Motors .................................................133.1
Driving Modes .......................................................................................................133.2
4MOTOR INSTALLATION...............................................................................................15
Mounting Base Design Considerations..................................................................154.1
Bonding the Driving Strip to the Stage...................................................................164.2
Mounting and Connecting the EDGE Motor...........................................................184.3
Mounting and Connecting the EDGE-4X Motor .....................................................214.4
Operating the motor ..............................................................................................234.5
Driver/Controller.........................................................................................234.5.1
5MOTOR CONDITIONING...............................................................................................24
The Conditioning Procedure..................................................................................245.1
6TECHNICAL DATA........................................................................................................25
Motor Model for Control Simulations......................................................................256.1
Specifications EDGE.............................................................................................266.2
Performance...............................................................................................266.2.1
Electrical ....................................................................................................266.2.2
Environmental............................................................................................266.2.3
Dimensions ...........................................................................................................276.3
Thermal Envelope of Performance (EOP) .............................................................276.4

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EDGE Motor...............................................................................................276.4.1
EDGE-4X Motor .........................................................................................316.4.2
7ELECTRO-MECHANICAL INTERFACES......................................................................35
EDGE Motor Layout..............................................................................................357.1
EDGE Motor Layout...................................................................................357.1.1
EDGE Mounting Base Layout.....................................................................367.1.2
EDGE Motor Electro-Mechanical Interface.................................................377.1.3
EDGE-4X Motor Layout.........................................................................................387.2
EDGE-4X Motor Layout..............................................................................387.2.1
EDGE-4X Mounting Base Layout...............................................................397.2.2
EDGE 4X Motor Electro-Mechanical Interface............................................407.2.3
8CONTACT INFORMATION............................................................................................41
Customer Service..................................................................................................418.1
General Inquiries and Ordering .............................................................................418.2

Motor User Manual List of Figures
Nanomotion Ltd. 8
List of Figures
Figure 1: Bonding the Ceramic Driving Strip .......................................................................16
Figure 2: EDGE motor motion system mechanical parts overview ......................................18
Figure 3: Connecting the Motor FPC to the FPC Electrical Interface (example of design
used for EDGE EVALUATION KIT).....................................................................19
Figure 4: Example of stage based on EDGE motor including ASIC EDGE driver and
position encoder (EDGE MOTOR EVALUATION KIT stage)...............................20
Figure 5: EDGE-4X Motor Motion System Mechanical Parts Overview...............................21
Figure 6: Connecting the Motor FPC to the FPC Electrical Interface (example of design
used for EDGE-4X MOTOR EVALUATION KIT).................................................22
Figure 7: Block Diagram of the Motor and Driver.................................................................25
Figure 8: Typical EDGE Motor Velocity vs. Command Operating in Standard Driving
Mode ..................................................................................................................28
Figure 9: Typical Motor Velocity vs. Command Operating in Linear Driving Mode...............29
Figure 10: EDGE motor Force vs. Velocity at different work regimes..................................29
Figure 11: Typical EDGE 4X Motor Velocity vs. Command Operating in Standard Driving
Mode ..................................................................................................................31
Figure 12: Typical EDGE 4X Motor Velocity vs. Command Operating in Linear Driving
Mode ..................................................................................................................32
Figure 13: EDGE-4X motor Force vs. Velocity at different work regimes.............................32
Figure 14: EDGE Motor Mechanical Layout ........................................................................35
Figure 15: EDGE motor mounting base requirements.........................................................36
Figure 16: EDGE motor electro-mechanical interface..........................................................37
Figure 17: Edge-4X Motor Layout .......................................................................................38
Figure 18: EDGE-4X motor mounting base requirements ...................................................39
Figure 19: EDGE-4X motor electro-mechanical interface....................................................40

Motor User Manual List of Abbreviations
Nanomotion Ltd. 9
List of Abbreviations
ASIC
Application Specific Integrated Circuit
Refers specifically to Nanomotion
Controller Driver chip.
AC
Alternating Current
DC
Direct Current
ICD
Interface Controlled Document
IPA
Isopropyl Alcohol used for cleaning
PCB
Printed circuit board
FPC
Flexible Printed Circuit

Motor User Manual General
Nanomotion Ltd. 10
1 General
The purpose of this user manual is to help the user to install and operate the
EDGE & EDGE-4X Piezoceramic Motor.
This manual describes the physical dimensions, mechanical and electrical
properties as well as the installation procedures of the motors.
This manual assumes that the user has a fundamental understanding of basic
motion systems, as well as motion control concepts and applicable safety
procedures.
General Handling Guidelines1.1
Do not remove the cover of the motor!1.
Switch the power on only when the motor is properly mounted and connected2.
to the driver / controller.
Do not immerse the motor in any liquid or cleaning agent. Use only a clean3.
room lint free cloth to wipe the motor.
Ensure that the motor, and especially the "fingertip", is not subjected to direct4.
high mechanical shock.
Follow the installation instructions provided in this manual when mounting the5.
motor. The EDGE & EDGE-4X motor is not user-serviceable. For any
installation and mounting inquiries, please contact Nanomotion.
Reference Documentation1.2
Nanomotion ASIC NM8SiP user manual, document No.: ASIC458000-XX.
XCD EDGE Driver-Controller, document No.: XCDE458000.
XCD2 Edge-4X driver-control ref PN - XCDE458000-XX.
EDGE INTERFACE DRAWING, document No.: EDGE458101-01.
EDGE-4X INTERFACE DRAWING, document No.: EDG4129000-00.

Motor User Manual Introduction
Nanomotion Ltd. 11
2 Introduction
The EDGE Motor2.1
The EDGE motor is the smallest industrial motor of its kind available in the
marketplace today. Providing typical 0.4N stall force, maximum velocity of 200
mm/sec and unlimited linear or rotary motion, the EDGE motor offers extensive
opportunities in applications that suit a wide range of industries. The EDGE
motor works with a uniquely designed, compact ASIC-based driver, XCD and
XCD2 controller / driver. The EDGE motor can be easily integrated with most
types of bearing structures and it is ideal for mass production applications.
The EDGE-4X Motor2.2
The EDGE-4X motor expands the EDGE product line of low voltage piezo
motors, bringing four times the force of the Edge motor. The EDGE-4X provides
up to 1.3N stall force and unlimited travel for linear or rotary applications.
Continuing to optimize size, weight and power.
EDGE & EDGE-4X Motor Features2.3
•Compact size
•Lightweight
•High durability for demanding applications
•Low voltage
•Excellent move and settle characteristics
•Suitable for linear or rotary applications

Motor User Manual Introduction
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•ASIC, XCD and XCD2 drive and control:
- Standard Driving Mode
- Linear Driving Mode
- Wide dynamic velocity range
- Inherent brake at power off
- High resolution
- Silent

Motor User Manual Motor Operation
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3 Motor Operation
Operation Principle of EDGE & EDGE-4X3.1
Motors
The Piezoelectric effect in piezo materials converts an electrical field into
mechanical strain. Under special electrical excitation drive and specific geometry
of Nanomotion motors, longitudinal extension and transverse bending oscillation
modes are excited simultaneously at a single frequency. The simultaneous
excitation of the longitudinal extension mode and the transverse bending mode
creates a small elliptical trajectory of the ceramic tip, thus achieving the dual
mode standing wave motor patented by Nanomotion. By coupling the ceramic tip
to a precision stage, a resultant driving force is exerted on the stage, causing
stage movement. The periodic nature of the driving force at frequencies much
higher than the mechanical resonance of the stage allows continuous smooth
motion for unlimited travel, while maintaining high resolution and positioning
accuracy typical of piezoelectric devices. Motion can be linear or rotary,
depending on the coupling mechanism.
Driving Modes3.2
The EDGE & EDGE-4X motors can be driven by a custom NM ASIC driver, or
alternatively by an XCD and XCD2 EDGE & EDGE-4X Driver-Controller (refer to
section 1.2 for Reference Documentation). The drivers can drive the motor in two
driving modes:
•Standard Driving Mode – standard motor operation mode. In this mode the
motor is motionless up to approximately ±1.5V command (Dead Band).
Nanomotion motion algorithm enables smooth motion as well as micron-level
displacement. This drive mode is the default mode for open / close-loop.

Motor User Manual Motor Operation
Nanomotion Ltd. 14
•Linear Driving Mode – this mode facilitates a linear response of the motor
from 0 (zero) command level. This mode is recommended for scanning
applications and micron-level displacement. The Linear Mode drive is
preferable for perfect servo tracking and/or very low ripple constant velocity.

Motor User Manual Motor Installation
Nanomotion Ltd. 15
4 Motor Installation
This chapter provides detailed information about bonding the Ceramic Driving
Strip and mounting and connecting the EDGE & EDGE-4X motors before
operation.
To ensure peak motor performance, use of the Ceramic Driving Strip provided by
Nanomotion is recommended. The Ceramic Driving Strip is specifically designed
to work with Nanomotion's EDGE & EDGE-4X motors. Substituting this Strip with
any other material might reduce motor performance or damage the motor and will
void product warranty.
Mounting Base Design Considerations4.1
Refer to chapter 7 for motor and mounting base drawings - note that mounting
base dimensions refer to the front surface of the Ceramic Driving Strip. The
mounting base should be perpendicular to the Ceramic Driving Strip.
Both screws securing the motor to the mounting surface are inserted from the top
of the motor. In multi axis application make sure that any protrusion of the
screws does not interfere with motion on another axis.
IMPORTANT:
•The mounting base, the stage and the method used for mounting should
be designed for maximum mechanical rigidity and stiffness
≥ 5 N/
µ
m for EDGE motor and > 10 N/
µ
m for EDGE 4X motor.
•The ceramic strip surface should move parallel to the motion. The
maximum allowable run-out of the strip should not exceed ±0.03mm
(chapter 7)

Motor User Manual Motor Installation
Nanomotion Ltd. 16
Bonding the Driving Strip to the Stage4.2
Bond the Ceramic Driving Strip to the stage surface according to the following
steps:
Clean the bonding area of the stage, using a suitable agent such as Acetone,1.
IPA or Ethanol.
Remove the Acrylic adhesive Tape backing paper from the Ceramic Driving2.
Strip.
Attach the Ceramic Driving Strip to the previously cleaned stage area (see Figure
1), making sure no air bubbles are trapped between the stage and the ceramic.
Figure 1: Bonding the Ceramic Driving Strip
Verify that there is a maximum gap of 0.5mm between the lower edge of the3.
Ceramic Driving Strip and the motor mounting surface (refer to chapter
7) to
assure enough clearance for the motor tip.
Apply Epoxy adhesive on the center of the Ceramic Driving Strip surface,4.
about 5 mm length (see Figure 1). For short strips up to 10mm, a single drop
can be applied on each end of the Ceramic Driving Strip (see Optional Epoxy
drop in Figure 1). The Epoxy must bond the strip to the slide. Recommended
adhesive: Araldite 2014-1 or compatible.
Allow the required time period for curing, according to the epoxy5.
manufacturer’s specifications.
Epoxy strip of 5mm in the
center of the ceramic strip
Optional Epoxy drop on
the end of the ceramic

Motor User Manual Motor Installation
Nanomotion Ltd. 17
IMPORTANT:
•Ensure that the epoxy is in contact with the surfaces of both the strip and
slide, but that it does not flow over the Ceramic Driving Strip front surface
or over the upper working surface of the slide.

Motor User Manual Motor Installation
Nanomotion Ltd. 18
Mounting and Connecting the EDGE Motor4.3
In order to mount the motor against the moving slide (see Figure 2 and chapter 7)
perform the following steps:
Figure 2: EDGE motor motion system mechanical parts overview
Assemble the slide with the ceramic strip upon the mounting plate. Make sure the
slide position is according to Figure 16. The slide should be perpendicular to the
holes and at the correct distance to enable proper mounting of the motor. This
can be achieved by designing an alignment feature in the base plate or by using
a jig which fits to the motor pin holes in the base.
Place the motor “fingertip” against the ceramic plate and gently press the1.
motor toward the ceramic plate until the motor pins can be inserted into the
corresponding holes in the base. The motor is now correctly positioned.
Insert two M1.2 screws into their corresponding holes on the motor and2.
tighten them to a torque of 10-30 mNm. The motor is now properly secured in

Motor User Manual Motor Installation
Nanomotion Ltd. 19
its place. It is recommended using a bonding material such as LOCTITE™
242 to secure the screws.
Connect the motor’s FPC to the motor interface connector (see chapter
7.13.
for details), located on the user’s PCB. PCB and FPC design may change for
different applications.
Figure 3: Connecting the Motor FPC to the FPC Electrical Interface (example of
design used for EDGE EVALUATION KIT)
FPC interface
connector
EDGE Motor
Motor FPC
connector
Slide
User’s PCB

Motor User Manual Motor Installation
Nanomotion Ltd. 20
Figure 4: Example of stage based on EDGE motor including ASIC EDGE driver and
position encoder (EDGE MOTOR EVALUATION KIT stage).