Nanomotion XCD EDGE User manual

D/N: XCDE458100-00, Revision B May 23, 2012
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
XCD EDGE™
Motherboard
User Guide

XCD Edge MotherboardUser Guide Copyright Notice
D/N: XCDE458100-00, Revision B 2
Copyright Notice
Copyright © 2011, 2012 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.

XCD Edge Motherboard User Guide Limited Warranty
D/N: XCDE458100, Revision B 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.

XCD Edge Motherboard User Guide Patent Information
D/N: XCDE458100, Revision B 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)

XCD Edge Motherboard User Guide Table of Contents
D/N: XCDE458100, Revision B 5
Table of Contents
About this Guide....................................................................................................................6
Contact Information...............................................................................................................7
1Safety.............................................................................................................................8
2Overview........................................................................................................................9
2.1 Features............................................................................................................9
3XCD EDGE Motherboard Interfaces...........................................................................11
3.1 Functional Interface.........................................................................................11
3.2 Mechanical Interface.......................................................................................12
3.3 Electrical Interface...........................................................................................13
4Electrical Schemes .....................................................................................................23
5Technical Data ............................................................................................................25
6Ordering Information..................................................................................................25

XCD Edge Motherboard User Guide About this Guide
D/N: XCDE458100, Revision B6
About this Guide
Scope
This user guide provides the required information for interfacing with the
XCD EDGE Motherboard.
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 EDGE Controller Driver User Guide, D/N: XCDH458000-00.
Glossary
D/N
Document Number
FW
Firmware
GPIO
General Purpose Input / Output
I2C (IIC) Inter-Integrated Circuit
Serial Communication Interface
I/O Input / Output
MB
Motherboard
NM
Nanomotion
P/N
Part Number
SW
Software Version
XMS™
XCD Motion Script

XCD Edge Motherboard User Guide Safety
D/N: XCDE458100, Revision B 7
Contact Information
Website: www.nanomotion.com
Customer Service
Contact your local distributor or email Nanomotion Ltd. Technical Support
Department at [email protected], with detailed problem description,
additions, corrections or suggestions.
Nanomotion Ltd. Worldwide Headquarters
Mordot HaCarmel Industrial Park
HaYetsira Street, PO Box 623
Yokneam 20692
Tel: [phone]
Fax: [phone]
Email: [email protected]
Nanomotion Inc - US Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma
NY 11779
Tel: [phone]
Fax: [phone]
Email: [email protected]

XCD Edge Motherboard User Guide Safety
D/N: XCDE458100, Revision B 8
1 Safety
WARNING!
•
Keep your hands off the XCD EDGE Motherboard while the it is turned on.
Approaching your fingers to the XCD EDGE Motherboard, may result in an
electrical shock.
•
Before operating the stage, ensure that the motor is grounded.
CAUTION:
Use the XCD
EDGE Motherboard only for the purposes and tasks described in this
manual, or in related documentation.
Always perform tasks according to the
instructions provided in the documentation.

XCD Edge Motherboard User Guide Overview
D/N: XCDE458100, Revision B 9
2 Overview
The XCD EDGE™Motherboard is an interface connection board for the XCD
EDGE Controller Driver. With the XCD EDGE Motherboard the user can easily
access all signals on the XCD EDGE Controller Driver.
The user can use the XCD EDGE Motherboard as a reference evaluation board for
designing a user-customized motherboard.
2.1 Features
•Power supply 12/5V DC/DC
•Power supply 5/3.3V DC/DC
•Power indicators LEDs
•Supports I2C, UART, and SPI communication protocols
•Supports user-programming, using XMS
•2 Limit Switches
•4 GPIOs
•3 Analog inputs
•Emergency Stop input signal
Power Supply
RS232
I
2
C
SPI
Power
indicator
(LEDs)
GPIOs
12/5V DC/DC
5/3.3V DC/DC
Encoder
connector
Motor
connectors
Analog Inputs
Limit Switch

XCD Edge Motherboard User Guide Overview
D/N: XCDE458100, Revision B 10
The XCD EDGE Motherboard Connections Diagram
The diagram describes the XCD EDGE Controller Driver connected to the XCD
Motheboard. The XCD Motherboard is designed for XCD EDGE Controller Driver
evaluation and development purposes.
XCD Edge Controller Driver
I
2
C
I/O
RS232
Analog Input
Emergency
SPI
12V/5V3.3V
Power
Encoder signal
Motor
Connectors
Limit
Switch
Analog Inputs
I/O
XCD Edge Motherboard
Emergency
SPII
2
CRS232
Motor
Connectors
Encoder
Connector
Power Supply
12V

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 11
3 XCD EDGE Motherboard Interfaces
This section provides the required information for interfacing with the
XCD EDGE Motherboard.
3.1 Functional Interface
Controlling an EDGE Motor through the XCD EDGE Motherboard
Operating Nanomotion motor requires a setup consisting of the following
components:
A Host PC, running the XCD Commander application, SW version 1.0.
This SW is developed especially for evaluation and development
purposes.
1. An XCD EDGE Motherboard: either the XCD EDGE Motherboard, P/N:
XCDE150100-XX or a user-customized motherboard, that meets the
inerface requirements, as specified in section 3.
2. The XCD EDGE Controller Driver.
3. A single axis NM stage (or user-customized power stage) with moutned
EDGE motor.
4. A 12Vdc power supply.
Serial
communication
Host PC
XCD Edge
Motherboard
XCD Edge
Controller Driver
Edge
Motor
Encoder
12Vdc Power
Supply

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 12
3.2 Mechanical Interface
XCD EDGE Motherboard - Top View
(all dimensions are in mm)
170.00
119.52
78.65 78.65
6.35
117.45
106.82 6.35
51.17
42.70
Ø
Ø

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 13
3.3 Electrical Interface
Power Supply Connector
Singatron Enerprize 2DC-0005D100 DC Power Jack (JP4).
Power Indicators
LED D4 indicates 3.3V power is on.
LED D5 indicates 5V power is on.
LED D6 indicates 12V power is on.

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 14
Main Connector
Connector type on board: Samtec header, P/N: TMS-113-01-L-D-RA .
Mating connector: Samtec micro socket, P/N: SMS-113-01-X-D or
P/N: RSM-113-02-L-D-X.
Pin #
Pin Name
In/Out
Function
Comments
1 +5V Power 5Vdc Power Input Max power
consumption 2W
2 +5V Power 5Vdc Power Input Max power
consumption 2W
3 SPI_CLK Input SPI Clock
Future option
4 SPI_EN Input SPI Enable
5 MISO Input Master In Slave
Out
6 MOSI Output Master Out Slave
In
7 N.C. N.C. Not connected N/A
8 N.C. N.C. Not connected N/A
9 RXD Input RS232 Receive The controller receives
commands from the
host and sends back
the replies
10 TXD Output RS232 Transmit
11 SDA Bidirectional I2C Serial data The controller receives
commands from the
host and sends back
the replies
12 SCL Bidirectional I2C Serial clock
13 GPIO1 Output PPW Voltage level CMOS
3.3V.
The customer defines
I/O processing in XMS
14 GPIO2 N.C. Not connected
15 GPIO3 Output General Purpose
Digital Output 3
16 GPIO4 Ouput General Purpose
Digital Output 4
17 AN2 Input Analog Input 1 V range: 0V÷3.3V.
The customer defines
input processing in
XMS
18 AN1 Input Analog Input 2
19 EMERGENCY Input Emergency stop CMOS 3.3V V range:
0V÷3.3V
Table 1: Main Connector Pinout

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 15
Pin # Pin Name Inout/Output Function Comments
20 AN3 Input Analog Input 3 V range: 0V÷3.3V
The customer defines
input processing in
XMS script
21 ANLG_OUT2 Output Analog Ouput 2
22 ANLG_OUT1 Output Analog Ouput 1
23 N.C. N.C. Not connected N/A
24 PWM_OUT Output Keep alive For testing puposes
25 GND Ground System Ground N/A
26 GND Ground System Ground N/A
Table 2: Main Connector Pinout (Cont.)

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 16
Motor / Encoder Connector
Connector type on board: Samtec header, P/N: TMS-111-01-L-S-RA.
Mating connector: Samtec micro socket, P/N: RSM-111-02-L-S-X or
P/N: SMS-111-01-X-S
Table 3: Motor / Encoder Connector Pinout
Pin #
Pin Name
Input / Output
Description
1
ENCDR_PWR
Power
Encoder power out
2
A_5V
Input
Incremental signal
3
B_5V
Input
Incremental signal
4
INDEX_5V
Input
Reference mark
5
GND
Ground
System ground
6
LIMIT_SW_RIGHT
Input
Limit switch Right
7
LIMIT_SW_LEFT
Input
Limit switch Left
8
GND
Ground
System ground
9
P1
Output
Motor phase 1
10
COM
Output
Motor common
11
P2
Output
Motor phase 2

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 17
Limit Swithches Connector
Header, 3 friction lock (J17).
For mating connector use: Molex Crimp terminal housing (PN 22-29-2031),
with Molex Crimp terminal pins (PN 0008500113).
Table 4: Limit Switches Connector Pinout
Pin #
Pin Name
Input / Output
Description
1
LS Right
Input
Limit Switch Right
2
LS Left
Input
Limit Switch Left
3
GND
Power
System Ground
Note
:
Jumper JP19
-1, 2 shorts to ground Limit Switch Right.
Jumper JP19
-3, 4 shorts to ground Limit Switch Left.
1
2
3

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 18
Analog Inputs Connector
Three terminal blocks (J35, J36, J37).
Table 5: Analog Inputs Connector Pinout
Connector
& Pin #
Pin Name
Input /
Output
Description
J35 - 1
AN1
Input
Analog Input 1 (voltage range of
0 ÷ 3.3V)
J35 - 2
GND
Ground
System ground
J36 - 1
AN2
Input
Analog Input 2 (voltage range of
0 ÷ 3.3V)
J36 - 2
GND
Ground
System ground
J37 - 1
AN3
Input
Analog Input 3 (voltage range of
0 ÷ 3.3V)
J37 - 2
GND
Ground
System ground
1
1
1
2
2
2

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 19
GPIOs Connector
Five terminal blocks (J33, J28, J29, J30, J31).
Table 6: I/O Connector Pinout
Connector
& Pin #
Pin Name
Input /
Output
Description
J33 - 1
Emergency
Stop
Input
Emergency input signal, CMOS
3.3V
J33 - 2
GND
Ground
System ground
J28 - 1
I/O 1
Input
General Purpose Digital Input 1,
CMOS 3.3V
J28 - 2
GND
Ground
System ground
J29 - 1
I/O 2
N.C.
Not connected
J29 - 2
GND
Ground
System ground
J30 - 1
I/O 3
Output
General Purpose Digital Input 3,
CMOS 3.3V
J30- 2
GND
Ground
System ground
J31 - 1
I/O 4
Output
General Purpose Digital Input 4,
CMOS 3.3V
J31 - 2
GND
Ground
System ground
1
1
1
2
2
2
1
1
2
2

XCD Edge Motherboard User Guide XCD EDGE Motherboard Interfaces
D/N: XCDE458100, Revision B 20
I2C Serial Communication Connector
Header, 6 shrouded (J13).
For mating connector use: IDC socket 6 pins CVILUX CA21-06-S-A-1-0,
with Starin Releaf CA21-06-S-R-1-0.
Table 7: Limit Switches Connector Pinout
Pin #
Pin Name
Input / Output
Description
1
SDA
Bi-directional
Serial data
2
SCL
Input
Serial clock
3
5V
Power
5Vdc power out
4
GND
Ground
System ground
5
5V
Power
5Vdc power out
6
GND
Ground
System ground
1
2
5
6
3
4