Related Manuals for Nanomotion EDGE
Summary of Contents for Nanomotion EDGE
- Page 1 EDGE & EDGE-4X Motors User Manual EDGE458001-01 REV:A Dec 2016 Nanomotion Ltd. POB 623, Yokneam 20692, Israel Tel: 972-73-2498000 Fax: 972-73-2498099 Web Site: www.nanomotion.com E-mail: nano@nanomotion.com...
- Page 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.
- Page 3 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. Nanomotion Ltd.
- Page 4 Motor User Manual Limited Warranty 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;...
- Page 5 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 Nanomotion Ltd.
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Page 6: Table Of Contents
The EDGE-4X Motor ..................... 11 EDGE & EDGE-4X Motor Features ............... 11 3 MOTOR OPERATION ....................13 Operation Principle of EDGE & EDGE-4X Motors ..........13 Driving Modes ....................... 13 4 MOTOR INSTALLATION ....................15 Mounting Base Design Considerations ..............15 Bonding the Driving Strip to the Stage .............. - Page 7 EDGE-4X Motor Layout ..................38 7.2.1 EDGE-4X Motor Layout ................38 7.2.2 EDGE-4X Mounting Base Layout ............... 39 7.2.3 EDGE 4X Motor Electro-Mechanical Interface ..........40 8 CONTACT INFORMATION .................... 41 Customer Service ....................41 General Inquiries and Ordering ................41 Nanomotion Ltd.
- Page 8 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 .......
- Page 9 Motor User Manual List of Abbreviations List of Abbreviations Application Specific Integrated Circuit ASIC Refers specifically to Nanomotion Controller Driver chip. Alternating Current Direct Current Interface Controlled Document Isopropyl Alcohol used for cleaning Printed circuit board Flexible Printed Circuit Nanomotion Ltd.
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Page 10: General
Ensure that the motor, and especially the "fingertip", is not subjected to direct high mechanical shock. Follow the installation instructions provided in this manual when mounting the motor. The EDGE & EDGE-4X motor is not user-serviceable. For any installation and mounting inquiries, please contact Nanomotion. Reference Documentation Nanomotion ASIC NM8SiP user manual, document No.: ASIC458000-XX. -
Page 11: Introduction
2 Introduction The EDGE Motor 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. - Page 12 Motor User Manual Introduction • 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 Nanomotion Ltd.
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Page 13: Motor Operation
Driving Modes 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: •... - Page 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. Nanomotion Ltd.
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Page 15: Motor Installation
The mounting base, the stage and the method used for mounting should be designed for maximum mechanical rigidity and stiffness ≥ 5 N/µm for EDGE motor and > 10 N/µm 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... -
Page 16: Bonding The Driving Strip To The Stage
Figure 1: Bonding the Ceramic Driving Strip Verify that there is a maximum gap of 0.5mm between the lower edge of the Ceramic Driving Strip and the motor mounting surface (refer to chapter 7) to assure enough clearance for the motor tip. - Page 17 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. Nanomotion Ltd.
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Page 18: Mounting And Connecting The Edge Motor
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. -
Page 19: Figure 3: Connecting The Motor Fpc To The Fpc Electrical Interface (Example Of Design Used For Edge Evaluation Kit)
PCB. PCB and FPC design may change for different applications. Slide Motor FPC connector EDGE Motor FPC interface connector User’s PCB Figure 3: Connecting the Motor FPC to the FPC Electrical Interface (example of design used for EDGE EVALUATION KIT) Nanomotion Ltd. -
Page 20: Figure 4: Example Of Stage Based On Edge Motor Including Asic Edge Driver And Position Encoder (Edge Motor Evaluation Kit Stage)
Motor User Manual Motor Installation Figure 4: Example of stage based on EDGE motor including ASIC EDGE driver and position encoder (EDGE MOTOR EVALUATION KIT stage). Nanomotion Ltd. -
Page 21: Mounting And Connecting The Edge-4X Motor
In order to mount the motor against the moving slide (see Figure 5 and chapter 7) perform the following steps: Figure 5: EDGE-4X Motor Motion System Mechanical Parts Overview Insert the location pin into the corresponding hole on the motor by placing the motor “fingertip”... -
Page 22: Figure 6: Connecting The Motor Fpc To The Fpc Electrical Interface (Example Of Design Used For Edge-4X Motor Evaluation Kit)
Connect the motor’s FPC to the motor interface connector (see chapter for details), located on the user’s PCB. PCB and FPC design may change for different applications. Figure 6: Connecting the Motor FPC to the FPC Electrical Interface (example of design used for EDGE-4X MOTOR EVALUATION KIT) Nanomotion Ltd. -
Page 23: Operating The Motor
1.2 for ASIC and the EDGE driver user manuals reference). 4.5.1.2 EDGE/EDGE-4X The XCD EDGE/XCD2 driver can work either as a driver or as a controller-driver (see chapter 1.2 for XCD EDGE/XCD2 driver user manuals reference). For other drive and control configurations please contact Nanomotion. -
Page 24: Motor Conditioning
Motor Conditioning 5 Motor Conditioning The EDGE & EDGE-4X motors must be conditioned before operating to stabilize the motor's dynamic performance and to assure expected lifetime of the system. Conditioning should be performed any time the motor is remounted on the stage. -
Page 25: Technical Data
6 Technical Data Motor Model for Control Simulations The EDGE & EDGE-4X motor moving a slide in a given direction can be modeled as a linear system driven by a DC motor by a voltage amplifier, as illustrated in Figure 8. -
Page 26: Specifications Edge
Motor User Manual Technical Data Specifications EDGE 6.2.1 Performance EDGE EDGE-4X Property Unit Value Value >180 Maximum Velocity >150 mm/s >1.3 Max Dynamic Stall Force >0.32 >1.2 Static Holding Force >0.29 0.25 to 0.31 Static Stiffness 0.06 to 0.09 N/µm 5.5-6.5... -
Page 27: Dimensions
Motor User Manual Technical Data Dimensions In the following table are the external dimensions of the motor. For detailed dimensions refer to section 7.1. Physical Dimensions (Nominal Values) Property Unit EDGE Value EDGE-4X Value Length 13.5 22.8 Width 12.4 Height 3.15... -
Page 28: Figure 8: Typical Edge Motor Velocity Vs. Command Operating In Standard Driving Mode
Figure 8 and Figure 9 display the minimal Motor Velocity vs. Driver command in Standard and Linear Modes correspondingly, for correlation between driver settings, motor performance, and EOP. Figure 8: Typical EDGE Motor Velocity vs. Command Operating in Standard Driving Mode Note: The motor operates horizontally at room temperature and nominal conditions. -
Page 29: Figure 9: Typical Motor Velocity Vs. Command Operating In Linear Driving Mode
Command [V] Figure 9: Typical Motor Velocity vs. Command Operating in Linear Driving Mode Figure 10: EDGE motor Force vs. Velocity at different work regimes Considering the above Figure 11, there is a corresponding limiting Duty Cycle and Maximum Continuous Operation time for each point on the motor force- velocity plane. - Page 30 Duty Cycle [%] Maximum Duty Maximum Continuous Cycle Continuous Operation “Brake ON" “Brake OFF" Operation [sec] [sec] ∞ ∞ ∞ c (*) Table 1: EOP for EDGE Motor in Standard or Linear Driving Mode (*) For reference only. Nanomotion Ltd.
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Page 31: Edge-4X Motor
Figure 11 and Figure 12 display the minimal Motor Velocity vs. Driver command in Standard and Linear Modes correspondingly, for correlation between driver settings, motor performance, and EOP. Command [V] Figure 11: Typical EDGE 4X Motor Velocity vs. Command Operating in Standard Driving Mode Nanomotion Ltd. -
Page 32: Figure 13: Edge-4X Motor Force Vs. Velocity At Different Work Regimes
Motor User Manual Technical Data Command [V] Figure 12: Typical EDGE 4X Motor Velocity vs. Command Operating in Linear Driving Mode For a given application at a given motion profile, the work regime is determined by the F-V curve given in Figure 13. - Page 33 Ambient Temperature 60-70 °C Standard Linear Curve Duty Cycle [%] Maximum Duty Maximum Continuous Cycle Continuous Operation “Brake ON" “Brake OFF" Operation [sec] [sec] ∞ ∞ ∞ Table 2: EOP for EDGE-4X Motor in Standard or Linear Driving Mode Nanomotion Ltd.
- Page 34 (“BRAKE OFF”). In Linear Driving Mode “BRAKE ON” and “BRAKE OFF” are not equivalent. Under “BRAKE OFF”, although the driver is set to 0 V command, power is still consumed (and therefore, heat is generated) by the motor, effectively reducing the allowable Duty Cycle. Nanomotion Ltd.
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Page 35: Electro-Mechanical Interfaces
Electro-Mechanical Interfaces 7 Electro-Mechanical Interfaces EDGE Motor Layout 7.1.1 EDGE Motor Layout Figure 14 shows the EDGE motor layout according to EDGE INTERFACE DRAWING, DOCUMENT NO. EDGE458101-01. Figure 14: EDGE Motor Mechanical Layout Note: The dimensions are in mm Preloaded Position refers to Motor installed on a mounting based according to Section 7.1.2. -
Page 36: Edge Mounting Base Layout
Motor User Manual Electro-Mechanical Interfaces 7.1.2 EDGE Mounting Base Layout Figure 15 shows the mounting base requirements for EDGE motors according to EDGE INTERFACE DRAWING, DOCUMENT NO. EDGE458101-01. Figure 15: EDGE motor mounting base requirements Note: The dimensions are in mm... -
Page 37: Edge Motor Electro-Mechanical Interface
7.1.3 EDGE Motor Electro-Mechanical Interface Standard EDGE Motor FPC is designed to be used with a standard 1mm FPC Connector (for example AMP, P/N 487951-4). See EDGE INTERFACE DRAWING, DOCUMENT NO. EDGE 458101 for details and pin out. Note that the EDGE motor is also available with a custom FPC for specific OEM applications. -
Page 38: Edge-4X Motor Layout
Motor User Manual Electro-Mechanical Interfaces EDGE-4X Motor Layout 7.2.1 EDGE-4X Motor Layout Figure 17 shows the EDGE motor layout according to EDGE-4X INTERFACE DRAWING, DOCUMENT NO. EDG4129000-00. Figure 17: Edge-4X Motor Layout Nanomotion Ltd. -
Page 39: Edge-4X Mounting Base Layout
Motor User Manual Electro-Mechanical Interfaces 7.2.2 EDGE-4X Mounting Base Layout Figure 18 shows the mounting base requirements for EDGE-4X motors according to EDGE-4X INTERFACE DRAWING.. Note: Use two holes for dowel pins (indicated in red on the below figure) to align the bearing with ceramic strip perpendicular to the motor and at the correct distance. -
Page 40: Edge 4X Motor Electro-Mechanical Interface
Electro-Mechanical Interfaces Note: The dimensions are in mm. 7.2.3 EDGE 4X Motor Electro-Mechanical Interface Figure 19 shows the EDGE-4X motor layout according to EDGE-4X INTERFACE DRAWING, DOCUMENT NO. EDG4129000-00. Figure 19: EDGE-4X motor electro-mechanical interface Note: The dimensions are in mm. -
Page 41: Contact Information
Motor User Manual Contact Information 8 Contact Information Customer Service Contact your local distributor or email Nanomotion Ltd. Technical Support Department at techsupport@nanomotion.com, with detailed problem description. General Inquiries and Ordering Item Part Number EDGE 4X, STANDARD EM4X-S-1-0 EDGE 4X, 100mm... - Page 42 Nanomotion Ltd. PO Box 623 Yokneam, Israel 20692 Tel: + 972-73-2498000 Fax: +972-73-2498099 Web site: www.nanomotion.com Email: nano@nanomotion.com Nanomotion Inc. (US) Headquarters Nanomotion Inc 1 Comac Loop, Ste. 14B2 Ronkonkoma, NY 11779 Tel: (800)821-6266 Fax: (631)585-1947 Web site: www.nanomotion.com Email: nanous@nanomotion.com...