Related Manuals for Nanomotion AB2
Summary of Contents for Nanomotion AB2
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Page 1: User Manual
AB2 Driver User Manual September 2003 P/N: AB02 458 000 A Nanomotion Ltd. POB 223, Yokneam 20692, Israel Tel: 972-4-959-0862 Fax: 972-4959-0995 Web Site: ww w.nanomotion.com E-mail: nano@nanomotion.com... -
Page 3: Limited Warranty
Copyright This document contains proprietary information of Nanomotion Ltd., and Nanomotion Inc., and may not be reproduced in any form without prior written consent from Nanomotion Ltd. and Nanomotion Inc. 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 4 CE Compliance CE Compliance This product was tested for Electrical Safety and Electromagnetic Compatibility. It conforms with EMC Directive 89/336/EEC, Article 7(1); with FCC 47 CFR part 15 subpart B; and with LV directive 73/23/EC, Article 5 and satisfies the requirements of the following standards: EN 61800-3:1996 + A11: 2000 for second environment.
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Page 5: Table Of Contents
Table of Contents Table of Contents 1 AB2 DESCRIPTION ..........................1 General ..........................1 Main Features........................1 Operating Principles ......................2 2 CONNECTIONS AND I/O SETTINGS....................4 Front Panel Description .......................4 2.1.1 Front Panel Connectors.......................5 2.1.2 Front Panel LED Indicators ....................5 Motion Control Interfaces ....................6 2.2.1... - Page 6 Figure 1: AB2 Block Diagram.................... 2 Figure 2: Schematic Diagram of the Output Stage in a Single Motor Configuration ..3 Figure 3: AB2 Driver Box Front Panel................4 Figure 4: Differential Analog Input Connection ..............7 Figure 5: Non-Differential (single-ended) Analog Input Connection......... 8 Figure 6: Joystick Connection...................
- Page 7 List of Tables List of Tables Table 1: LED indicators..................... 5 Table 2: AB2 Power Consumption.................. 17 Table 3: Electrical Specifications ..................17 Table 4: Physical Proprties ..................... 17 Table 5: Environmental Conditions ................. 18 Table 6: Analog Input Specifications................18 Table 7: DC Mode Specifications..................
- Page 8 List of Abbreviations List of Abbreviations Ampere Alternating Current Direct Current Light Emitting Diode Milliampere Milliwatt Transistor-Transistor Logic Vrms Volts Root Mean Square Nanomotion Ltd.
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Page 9: Ab2 Description
AB2 Description General The AB2 is a single-axis 24V amplifier box designed to drive up to 16 Nanomotion motor elements. Its main feature is the ability to drive motors in the “Piezo Actuator” mode of operation, or “DC Mode”, which enables the motors to achieve superior position resolution and accuracy in the range of a few nanometers on target. -
Page 10: Operating Principles
Operating Principles Operating Principles The AB2 Box consists of a single card (command source) that converts the input command signal into a corresponding PWM output signal. In this mode the output transformer-amplifier circuit converts the PWM output signal into a high voltage sine wave that drives the motor. -
Page 11: Figure 2: Schematic Diagram Of The Output Stage In A Single Motor Configuration
AB2 Driver Box User Manual AB2 Description +24V , 5A DC to DC converter (5v, +12v, -12v) voltage feedback PWM drive ad_directio Motor frequency ANALOG serial data Power INTERFACE Direction +Vin,-Vin stage ditherring CONTROLLE over voltage protection emergancy average DISCRETES... -
Page 12: Connections And I/O Settings
Connections and I/O Settings Front Panel Description Connections and I/O Settings Front Panel Description The AB2 front panel (see Figure 3) contains the following connectors and indicators: • Control Terminal • Motor Output port • I/O port • Enable/Fault Indicators •... -
Page 13: Front Panel Connectors
AB2 Driver Box User Manual Connections and I/O Settings 2.1.1 Front Panel Connectors Connector Description 5-pin connector – Provides input from an external +24 VDC power supply Control (5A maximum). terminal Provides direct control of the motor ENABLE signal. The primary voltage (+24V) is supplied from an external source. -
Page 14: Motion Control Interfaces
The motor may be operated with minimum control signals applied to the Control Terminal: NOTE: +24V,GND POWER, +VIN, -VIN, ENABLE_IN. 2.2.1 Analog Controller Connection There are two options of an analog connection of a motion controller to the AB2 Driver Box: • Differential connection (see Figure 4) •... -
Page 15: Figure 4: Differential Analog Input Connection
AB2 Driver Box User Manual Connections and I/O Settings POWER SUPPLY Block Terminal Male 2x LEDS CONTROLLER Twisted and shielded cable Vin+ 1 Vout+ AB2 Card Vout- Vin- Shield FAULT STATUS ENABLE ENABLE PLANT Emergency Stop Right Limit Left Limit... -
Page 16: Figure 5: Non-Differential (Single-Ended) Analog Input Connection
Connections and I/O Settings Motion Control Interfaces POWER SUPPLY Block Terminal Male 2x LEDS CONTROLLER Twisted and shielded cable Vin+ 1 +Vout AB2 Card Vin- -Vout Shield FAULT STATUS ENABLE ENABLE PLANT Emergency Stop Right Limit Left Limit D Type 9 Pin Female... -
Page 17: Joystick Connection
AB2 Driver Box User Manual Connections and I/O Settings 2.2.2 Joystick Connection Using the joystick for supplying the command voltage to the AB2 Driver Box allows the user to manually drive the motor without using a motion controller. POWER SUPPLY... -
Page 18: Cable Connections
(see Table 9). This ensures that unprotected motor pins will not be exposed to high voltage when the motor is not connected. If more than one motor is connected to the AB2 Driver Box, use a suitable branch cable. -
Page 19: Motor Cable Length
Connections and I/O Settings 2.4.1 Motor Cable Length The maximum allowed total cable length connecting the AB2 to the motor(s) is 20 meters for the HR types and 10 meters for the ST. Use Nanomotion standard cables. Branching is possible to two and four identical motors. -
Page 20: Voltage Source Configuration
I/O Port connector. The input to be activated should be shorted to external voltage supply ground. Configure jumper JP 1 on the AB2 card according to the voltage source: • Pin 1 shorted to Pin 2, for an internal +5V source (default factory setting) •... -
Page 21: Fault Output
• The motor is not connected and the “Motor Connected” signal (section 2.4) is floating • The AB2 is disabled or the Emergency Stop input is activated • One of the Limit Switches is activated The Fault output is capable of sinking a maximum of 20 mA, and is not protected from over current. -
Page 22: Ab2 Operation
AB2 Operation Operation Modes AB2 Operation Operation Modes The AB2 can be operated in one of the following operation modes: • Velocity (AC) Mode, in which the motor is driven continuously. This is the default mode. • Step Mode, in which the driver output is turned OFF and ON at hardware, predefined intervals, thus driving the motor in discrete steps. -
Page 23: Enabling The Step Mode
AB2 Driver Box User Manual AB2 Operation 3.1.2.1 Enabling the Step Mode Enable the Step operation mode, by shorting pin 16 to the ground. 3.1.3 Gate Mode Operation In Gate Mode, as opposed to Step Mode the pulse width and pulse frequency are user-defined. -
Page 24: Enabling The Dc Mode
AB2 Operation Operation Modes Figure 9: Typical DC Mode Behaviour 3.1.4.1 Enabling the DC Mode Enable the DC mode of operation by shorting pin 21 to the ground. When switching between AC and DC modes, the command voltage should be less than 5V. -
Page 25: Specifications
300 mA ST is connected. The required power supply value should be calculated by adding the total power consumption of all the motors that are connected to the AB2 power consumption without motor (+24 VDC/125 mA ) according to the following: •... -
Page 26: Table 5: Environmental Conditions
Operating Humidity Up to 80% Non-condensing Table 6: Analog Input Specifications ±10V Input voltage range: Input impedance: 10kΩ Input low pass filter: 2.7 kHz Table 7: DC Mode Specifications Switch time between Velocity and DC modes: ± 300nm Range: Nanomotion Ltd. -
Page 27: Ab2 Layout
AB2 Driver Box User Manual Specifications AB2 Layout The dimensions are given in mm. General Tolerance ±0.4 Figure 10: AB2 Layout... -
Page 28: Ab2 Pin Arrangement
Specifications AB2 Pin Arrangement AB2 Pin Arrangement Table 8: Control Terminal Pin Out Signal Name Function Description +24V Input +24 VDC Power Supply Ground +VIN Input Analog Command from controller. -VIN Input Analog Command from controller. ENABLE_IN Input Enable. See section 2.5... -
Page 29: Table 10: I/O Port Pin Out
AB2 Driver Box User Manual Specifications Table 10: I/O Port Pin Out Name Function Description +VIN Input Positive analog command input Ground FAULT Output See section 2.6 Ground Not used DIRECTION Input For Factoty Use Not used GATE / INT_MODE Input Enables Gate Mode operation.
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