Nanomotion XCD HR User manual

DN XCDH458001-00, Revision C August 29, 2012
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
XCD HR
Motherboard
User Guide

XCD HR Motherboard User Guide Copyright Notice
DN XCDH458001-00, Revision C 2
Copyright Notice
Copyright © 2011 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 HR Motherboard User Guide Limited Warranty
DN XCDH458001-00, Revision C 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.
Patent Information

XCD HR Motherboard User Guide Limited Warranty
DN XCDH458001-00, Revision C 4
One or more of the patents listed in the following table may apply to Nanomotion
products.
5,453,653; 5,616,980; 5,714,833; 111597; 5,640,063; 6,247,338; 6,244,076;
,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 HR Motherboard User Guide Limited Warranty
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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 HR Motherboard User Guide Limited Warranty
DN XCDH458001-00, Revision C 6
Revision History
ECO Revision Release
date Details
CO-0433 00/B May 2012 Deleted reference to specific XCD Software version number.
Added patent and trademark information
CO-0465 00/C Aug. 2012 Added reference to XCD HR1, and list of Nanomotion patents

XCD HR Motherboard User Guide Table of Contents
DN XCDH458001-00, Revision C 7
Table of Contents
About this Guide....................................................................................................................8
Contact Information...............................................................................................................5
1Safety.............................................................................................................................9
2Overview......................................................................................................................10
3XCD HR Motherboard Interface..................................................................................12
3.1 Functional Interface.........................................................................................12
3.2 Mechanical Interface.......................................................................................13
3.3 Electrical Interface...........................................................................................14
4Electrical Schemes .....................................................................................................22
5Technical Data ............................................................................................................25
6Ordering Information..................................................................................................26

XCD HR Motherboard User Guide Contact Information
DN XCDH458001-00, Revision C 8
About this Guide
Scope
This user guide provides the required information for interfacing with the XCD
HR 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 HR1/2/4 Controller Driver User Guide, D/N: XCDH458000.
•XCD Software User Guide for installed firmware version
Glossary
D/N
Document Number
GPIO
General Purpose Input / Output
I2C (IIC) Inter-Integrated Circuit
Serial Communication Interface
I/O
Input / Output
MB
Motherboard
NM
Nanomotion
PWM
Pulse-Width Modulation
P/N
Part Number
SPI
Serial Peripheral Interface
SW
Software
TP
Test Point

XCD HR Motherboard User Guide Safety
DN XCDH458001-00, Revision C 9
1 Safety
WARNING!
•
Keep your hands off the XCD HR Motherboard while it is turned on.
Approaching your fingers to the XCD HR Motherboard, may result in an
electrical shock.
•
Before operating the stage, ensure that the motor is grounded.
CAUTION:
Use the XCD HR Motherboard only for the purposes and tasks described in this
manual, or in related documentation.
Always perform tasks according to the inst
ructions provided in the documentation.

XCD HR Motherboard User Guide Overview
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2 Overview
The XCD HR Motherboard is an interface connection board for the XCD HR1/2/4
Controller Driver. With the XCD HR Motherboard the user can easily access all signals
on the XCD HR1/2/4 Controller Driver.
The user can use the XCD HR Motherboard as a reference evaluation board for
designing a user-defined motherboard.
XCD HR Motherboard
The XCD HR Motherboard Connections Diagram

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XCD HR Motherboard User Guide XCD HR Motherboard Interface
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3 XCD HR Motherboard Interface
This section provides the required information for interfacing with the
XCD HR Motherboard.
3.1 Functional Interface
Controlling an HR Motor Through the XCD HR Motherboard
Operating the HR1/2/4 motor requires a setup consisting of the following
components:
1. A Host PC, running the XCD Commander application version that is the same
as the FW version installed on the Controller Drive. This application is
developed especially for evaluation and development purposes.
2. An XCD HR Motherboard: either the XCD HR Motherboard, P/N:
XCDH150100 or a user-customized motherboard that meets the inerface
requirements, as specified in section 3.
3. The XCD Controller Driver:
•XCD HR1 – P/N XCD-HR1-BD-XX
•XCD HR2 - P/N: XCD-HR2-BD-XX
•XCD HR4 - P/N: XCD-HR4-BD-XX.
4. A single axis NM stage (or user-customized power stage) with mounted HR1,
HR2, or HR4 motor.
5. A 12VDC power supply.
Serial
communication
Host PC
XCD HR Motherboard
XCD HR1/2/4
Controller Driver
HR1/2/4
Motor
Encoder
12VDC Power
Supply

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3.2 Mechanical Interface
XCD HR 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
Note:
Insta
ll the XCD HR Motherboard, using six 3x10 spacers, and six M3 mounting
screws to be inserted in the card mounting holes
, marked red (see 6 holes
lengthwise
the edge of the motherboard card).

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3.3 Electrical Interface
XCD HR Motherboard Connectors
Power Supply Connector
Singatron Enerprize 2DC-0005D100 DC Power Jack (JP4).
Power Indicators
LED D5 indicates 5V power is on.
LED D6 indicates 12V power is on.
Power
Supply
RS232
I2C
Digital
I/Os
Analog
Inputs
Limit
Switch
Encoder
Power
Indicator

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Encoder Connector
DB, 15 pins, female connector (P1).
For mating connector use: DB, 15 pins, male connector.
Table 1: Encoder Connector Pinout
Pin #
Pin Name
In/Out
Function
1
N.C.
N/A
Not connected
2
0V
Power
DC power out
3
N.C.
N/A
Not connected
4
Z-/Q+
Input
Reference mark
5
B-
Input
Incremental signal
6
A-
Input
Incremental signal
7
5V
Power
DC power out
8
5V
Power
DC power out
9
0V
Power
DC power out
10
N.C.
N/A
Not connected
11
N.C.
N/A
Not connected
12
Z+/Q-
Input
Reference mark
13
B+
Input
Incremental signal
14
A+
Input
Incremental signal
15
Shield
N/A
Shorted to the shield

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Limit Switch Connector
Header, 3 friction lock (J17).
For mating connector use: Molex Crimp terminal housing (P/N: 22-29-2031), with
Molex Crimp terminal pins (P/N: 0008500113).
Table 2: Limit Switch Connector Pinout
Pin #
Pin Name
In/Out
Function
1
LS Right Input Limit Switch signals can be
used if an axis is equiped with
limit switch sensors indicating if
the axis is too close to hard
stop.
By default, when the signals are
active low; i.e. zero level,
causes fault: stops motion,
XMS program.
2
LS Left Input
3
GND
Ground
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 HR Motherboard User Guide XCD HR Motherboard Interface
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Analog Inputs Connector
Use this connector for connecting analog signals (range 0 – 3.3 V) to be
processed in XMS script.
Three terminal blocks (J35, J36, J37).
Table 3: Analog Inputs Connector Pinout
Connector
& Pin #
Pin Name
In/Out
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

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I/O Connector
Use this connector to connect digital signals (CMOS 3.3 V levels) to be processed
in XML script.
Five terminal blocks (J33, J28, J29, J30, J31).
Table 4: I/O Connector Pinout
Connector
& Pin #
Pin Name
In/Out
Description
J33 - 1
Emergency
Stop
Input
Emergency input signal, CMOS
3.3V.
By default, when the signal is
active low; i.e. zero level, causes
fault: stops motion, XMS progam.
J33 - 2
GND
Ground
System ground
J28 - 1
IO_0
Input
General Purpose Digital Input 0,
CMOS 3.3V.
The customer defines IO
processing in XMS script.
J28 - 2
GND
Ground
System ground
J29 - 1
IO_1
N.C.
Not connected
J29 - 2
GND
Ground
System ground
J30 - 1
IO_2
Output
General Purpose Digital Input 2,
CMOS 3.3V.
The customer defines IO
processing in XMS script.
J30- 2
GND
Ground
System ground
J31 - 1
IO_3
Output
General Purpose Digital Input 3,
CMOS 3.3V.
The customer defines IO
processing in XMS script.
J31 - 2
GND
Ground
System ground
1
1
1
2
2
2
1
1
2
2

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XCD HR Motherboard User Guide XCD HR Motherboard Interface
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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 5: Limit Switches Connector Pinout
Pin #
Pin Name
In/Out
Description
1
SDA
Bi-directional
Serial data
2
SCL
Bi-directional
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