Related Manuals for Nanomotion AB1B-3U Driver
Summary of Contents for Nanomotion AB1B-3U Driver
- Page 1 AB1B-3U Driver User Manual D/N: AB1B458000-00 REV: B August 29, 2012 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 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...
- Page 3 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 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;...
- Page 4 Revision History Revision Release date Details 00/A Dec 2009 New Release 00/B Dec. 2011 Update the EOP chapgter Aug. 2012 Administrative change – added patent information section in front matter. Nanomotion Ltd.
- Page 5 AB1B-3U Driver User Manual This page is intentionally left blank. Nanomotion Ltd.
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Page 6: Table Of Contents
4 TECHNICAL DATA ......................18 Specifications ......................18 Thermal Envelope of Performance (EOP) ............. 19 4.2.1 Description ..................... 19 4.2.2 Stage Heat Dissipation Consideration ............ 20 Thermal EOP for HR Motors Driven by the AB1B-3U Driver ........ 20 Nanomotion Ltd. - Page 7 AB1B-3U Driver User Manual Introduction 4.3.1 An Example for Defining the EOP for AB1B-3U Driver in Vacuum Environment ...................... 22 Front Panel LED Indicators ................... 23 4.4.1 Front Panel Description ................23 4.4.2 LED Indicators ..................23 Mother Board (MB) Interface Connector ............... 24 4.5.1...
- Page 8 List of Figures Figure 1: AB1B-3U Driver ..................... 9 Figure 2: Block Diagram of a Typical Application of the AB1B-3U Driver......13 Figure 3: Motor Velocity vs. Command ................20 Figure 4: Motor Force vs. Velocity at the Various Work Regimes (a-g) ......21 Figure 5: AB1B-3U Front Panel ...................
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Page 9: Introduction
AB1B-3U Driver User Manual Introduction 1 Introduction This manual is designed to help the reader to operate the AB1B-3U driver. It assumes that the reader has a fundamental understanding of basic servo systems, as well as motion control concepts and applicable safety procedures. -
Page 10: Main Features
AB1B-3U Driver User Manual Introduction Main Features • High precision (11 bits) control of the power output stage • Drives up to 48 HR motor elements in 3 channels of up to 16 elements in parallel • Interface with an Analog command •... -
Page 11: Available Configurations
AB1B-3U Driver User Manual Introduction Available Configurations The AB1B driver card has three (3) output channels (CH). The configurations described in Table 1 must follow the conditions below: • CH1 must always be connected. • CH2 and CH3 are optional. -
Page 12: Configuration Examples
AB1B-3U Driver User Manual Introduction Configuration Examples 1.4.1 A Six (6) Elements Configuration Table 2 shows a six (6) elements configuration, using 3xHR2 motors: Channel 32 or 48 Up to 24 Elements (no branch cable) Elements(with branch cable) Table 2: A Six (6) Elements Configuration 1.4.2... -
Page 13: Ab1B-3U Operating Principle
Introduction AB1B-3U Operating Principle 1.5.1 General The force transfer of the Nanomotion motor is based on friction of the motor’s elements and the drive strip. This drive mechanism has many advantages, like high precision, zero backlash, inherent brake and more. -
Page 14: Connecting The Ab1B-3U Driver
Nanomotion standard cables are used. • The Motor_Connected_In interlock is available at the motor connector, (refer to Nanomotion motor user manual). It disables high voltage on the bare driver output connector, when the motor is not connected. • The allowed maximum total motor cable length (connecting the AB1B-3U driver to the motor/s) is up to 10 meters for the HR motor. -
Page 15: Before Operating The Motor
Jumper JP1 is set to the required mode of operation (see section 4.5.4 for more details). • The external power supply is capable of supplying the required power consumption of the AB1B-3U driver. • There is no command from the Controller. Nanomotion Ltd. -
Page 16: Ab1B-3U Operating
The command should be limited according to the motor Envelope of Performance (see to section Error! Reference source not found. for more details). Operation Modes The AB1B-3U driver can be operated in one of the three operation modes listed below: •... -
Page 17: Step Mode Operation
AB1B-3U Driver User Manual AB1B-3U Operating 3.1.2 Step Mode Operation In this operation mode, the driver output to the motor is turned ON and OFF for fixed time intervals defined in the hardware, as follows: • ON phase - 1/16 second •... -
Page 18: Technical Data
450g Weight Environmental Conditions 0°C to 45°C Enclosure Ambient Temperature - 40°C to 70°C Storage Temperature Analog Input Specifications ± 10V Input voltage range 10kΩ Input impedance 2.7 kHz Input low pass filter Table 4: AB1B-3U Driver Specifications Nanomotion Ltd. -
Page 19: Thermal Envelope Of Performance (Eop)
AB1B-3U Driver User Manual Technical Data Thermal Envelope of Performance (EOP) 4.2.1 Description Motor operating temperature is a result of the balance between heat generation and heat dissipation. • The heat generation depends on motor's work regime (driver command level). -
Page 20: Stage Heat Dissipation Consideration
The motor operates horizontally at room temperature and low duty cycle (< 10%). It interfaces with the Ceramic Driving Strip (according to Nanomotion Specifications) and a cross-roller high quality Nanomotion Ltd. -
Page 21: Figure 4: Motor Force Vs. Velocity At The Various Work Regimes (A-G)
Maximal Maximal Duty Cycle Continuous Duty Cycle Continuous Duty Cycle Continuous Operation Operation Operation time [sec] time [sec] time [sec] ∞ ∞ ∞ ∞ ∞ ∞ ∞ Table 5: EOP Table for HR Motors Driven by AB1B-3U Driver Nanomotion Ltd. -
Page 22: An Example For Defining The Eop For Ab1B-3U Driver In Vacuum
Driver in Vacuum Environment An example for using the graph and table (Figure 4 and Table 5) for the AB1B-3U driver and HR8 motor: A vacuum application requires 10N at a velocity of 100mm/sec. The graph shows that this point of operation corresponds to the curve “d”. -
Page 23: Front Panel Led Indicators
AB1B-3U Driver User Manual Technical Data Front Panel LED Indicators 4.4.1 Front Panel Description The AB1B-3U front panel has the following LED indicators: • Fault (Red) • Enable (Yellow) • Power (Green) Figure 5: AB1B-3U Front Panel 4.4.2 LED Indicators... -
Page 24: Mother Board (Mb) Interface Connector
AB1B-3U Driver User Manual Technical Data Mother Board (MB) Interface Connector MB Interface connector: ERNI P/N :334-203 4.5.1 MB Interface Connector Pinout Name Function Description Step/Gate Mode Input See section 3.1 for Operation Modes Enable_In Input Drive enable Emergency stop... -
Page 25: Mb Interface Connector Pinout (Cont.)
AB1B-3U Driver User Manual Technical Data 4.5.2 MB Interface Connector Pinout (Cont.) -10V Output To joystick +10V Output To joystick Fault Code 2 Output Represents the fault code (open collector) Fault Code 1 Output Represents the fault code (open collector) -
Page 26: Opto-Isolated Inputs
AB1B-3U Driver User Manual Technical Data 4.5.3 Opto-isolated Inputs The following inputs are opto-isolated and are active “low”, i.e. by shorting them to ground (see Table 7 for more details): • Emergency Stop: disables driver’s output. • Enable: enables driver operation; should be activated before operating the motor. -
Page 27: Voltage Source Configuration
AB1B-3U Driver User Manual Technical Data 4.5.4 Voltage Source Configuration The opto-isolated input signals (see section 4.5.3) are activated as short-to-ground. The voltage for the opto-isolated circuit (see Figure 6) is provided by either internal +3.3V supply (default state) or an external voltage supply via pin 13 of the I/O Port connector. -
Page 28: Fault Output
AB1B-3U Driver User Manual Technical Data 4.5.5 Fault Output The Fault output indicates either driver's over voltage/current or motor disconnected. When active “low”, it disables the driver due to this fault. The fault output provides an open collector interface and needs to be pulled up by the user. -
Page 29: Ab1B-3U Mechanical Layout
• Make sure, the spacing between the slots on the MB is 2". • Nanomotion recommends using Schroff's enclosure or equivalent, which supports the AB1B front panel mechanical interface. • The 3U enclosure design should adhere to safety considerations, including ventilation and grounding. -
Page 30: Part Numbering Methodology
AB1B-3U Driver User Manual Part Numbering Methodology 5 Part Numbering Methodology The part numbers for the AB1B-3U drivers follow this methodology: Number of Driver Motor Type Elements AB1B-3U Note: ◘ “XX” represents number of motor elements, ranging from 1 to 48. -
Page 31: Contact Information
AB1B-3U Driver User Manual Contact Information 6 Contact Information Nanomotion Ltd. Headquarters Nanomotion Ltd. PO Box 223 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...