Motion Controllers - Johnson Electric

Motion Controllers
Page
XCD Edge Motion Controller 2
XCD HR Motion Controller 4
XCD Component Controller 6
FlexDC Motion Controller 8

XCD-EDGE-BD-01
O R D E R I N G I N F O R M AT I O N
Part Number: XCD-EDGE-BD-01
Drive and Control
R E L AT E D P R O D U C T S /
A C C E S S O R I E S
Part Number: EM1-S-0
EM1-V-0
EDGE motor
Part Number: XCDE150100-00
XCD EDGE Motherboard Assembly
Drive and Control
Application Recommendations
•
•
•
•
Auto Focus/Zoom Modules
Shutter & Aperture Control
Filter Changers
Pan and Tilt Modules
Product Description
Nanomotion’s XCD – Drive & Control
redefines the art of miniaturized drive
and control electronics with the
smallest hardware for operating
piezo ceramic servo motors. The
XCD provides complete servo
control for the OEM market, coupled
with the power stage and drive
electronics on one board. XCD will
have an OEM specific, motherboard
for connecting to the motor, position
sensor, communication and power.
The XCD for the Edge motor is
provided as a single axis board
which can operate in the ‘AB5’
mode with brake on/off, or in the
more traditional AB1A mode. The
XCD for the Edge motors accepts a
single ended encoder signal and is
programmed via an IIC interface and
the NanoCommander user software.
w w w. n a n o m o t i o n . c o m

XCD-1E-BD-00 Drive and Control
TECHNICAL SPECIFICATIONS
Dimensions:
35.0 x 25.0 x 10.65 mm
Motors supported : EDGE
Input Power: 5 V
Drive Mode AB5
(brake on/off) or AB1A mode
Communication IIC
Operating Temperature:
-40 to 85 ºC
ELECTRICAL
Power Consumption:
500 mW (max)
Nanomotion Ltd.
Worldwide Headquarters
Mordot HaCarmel Industrial Park
Yokneam 20692 Israel
t: +972 73 2498000
f: +972 73 2498099
e: nano@nanomotion.com
Nanomotion Inc.
U.S. Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma, New York 11779
t: (800) 821-6266
t: (631) 585-3000
f: (631) 585-1947
e: nanoUS@nanomotion.com
MECHANICAL DRAWINGS AND INTERFACE
ELECTRICAL INTERFACE
pin
number
1 +5v 5vdc pc:mer input +5v 5vdc pow er out
2 +5v 5vdc pc:mer input a encoder inc rem ental signals
3 spi clk spiclock b encoder inc rem ental signals
4 spi en spi enable index encoder reference mark
5 miso master in slave out gnd system ground
6 mosi master out slavein urn it sw right limit switc h right
7 n.c. nc( conected lim sw len limit sw itch len
8 n.c. not conected gnd svstem ground
9 rxd rs232 receive p1 mc(or phase 1
10 txd rs232 transmit com mc(or common
11 sda 12c serial data p2 mc(or phase 2
12 scl 12c serial clock
13 gpi01 ppw
14 gpi02 n/a
15 gpi03 general purpose digital output 3
16 gpi04 general purpose digital output 4
17 an2 analog input 1
18 an1 analog input 2
19 emergency emeroencv stop
20 an3 analoo input 3
21 anlg out2 analog 0uput 2
22 anlg out1 analog 0uput 1
23 n.c. n/a
J2 Main Connector J1 Motor and Encoder Connector
pin name pin description pin name pin description
24 pwm out keep alive
25 gnd system ground
26 gnd svstem oround
w w w. n a n o m o t i o n . c o m

XCD-HRx-BD-01
O R D E R I N G I N F O R M AT I O N
Part Number: XCD-HR1-BD-01
XCD-HR2-BD-01
XCD-HR4-BD-01
R E L AT E D P R O D U C T S /
A C C E S S O R I E S
Part Number: HR1-1, HR2-1,
HR4-1 Motors
Part Number: XCDH150100-00 XCD
HR Motherboard Assembly
Drive and Control
Application Recommendations
•
•
•
•
•
Auto Focus/Zoom Modules
Shutter & Aperture Control
Filter Changers
Pan and Tilt Modules
OEM stages
Product Description
Nanomotion’s XCD – Drive & Control
redefines the art of miniaturized drive
and control electronics with the
smallest hardware for operating piezo
ceramic servo motors. The XCD
provides complete servo control for
the OEM market, coupled with the
power stage and drive electronics on
one board. XCD will have an OEM
specific, motherboard for connecting
to the motor, position sensor,
communication and power.
The XCD for ST/HR motors is
provided as a single axis board which
can drive the ST, HR1, HR2, or
HR4motor. The XCD can operate in
the ‘AB5’ mode with brake on/off, or
in the more traditional AB1A mode.
The XCD for ST/HR motors accepts
a differential quadrature encoder
signal and is programmed via an IIC
interface and the Nano-Commander
user software.
w w w. n a n o m o t i o n . c o m

XCD-HR2x-BD-01 ER-15-4 Drive and Control
TECHNICAL SPECIFICATIONS
Mechanical
Dimensions: 52mm x 72mm x 26.4mm
PERFORMANCE
• Motors supported: HR1, HR2, HR4
• Drive mode : AB5 , AB1
• Support AQB sensor (Differential
Single ended 5V)
• Communication: SPI slave, Uart (LVTTL)
• Safety : Limit switches , motor interlock,
Emergency
• 2 x input TTL (5v/3.3v)
• 2 x output LVTTL (3.3v)
• 3 x Analog input: NTC , Joystick ,
Potentiometer (Ain range: 0V to 3.3V)
• 2 x Analog out (pwm)
ELECTRICAL
Drive voltage: 12V
Power consumption: 13W
Nanomotion Ltd.
Worldwide Headquarters
Mordot HaCarmel Industrial Park
Yokneam 20692 Israel
t: +972 73 2498000
f: +972 73 2498099
e: nano@nanomotion.com
Nanomotion Inc.
U.S. Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma, New York 11779
t: (800) 821-6266
t: (631) 585-3000
f: (631) 585-1947
e: nanoUS@nanomotion.com
MECHANICAL DRAWINGS AND INTERFACE
ELECTRICAL INTERFACE
pin
number
Main Connector Motor Connector
pin name pin description pin name pin description
1 +12v 12vdc power i nput gnd syst em gr ound
2 +12v 12vdc power i nput n. c. not connect ed
3
out put
spi _cl k spi cl ock mot or _up hi gh vol t age
4
out put
spi _en spi enabl e mot or _common hi gh vol t age
5
out put
mi so mast er i n sl ave out mot or _down hi gh vol t age
6 mosi mast er out sl ave i n mot or _connect ed i nput
7 r xd r s232 r ecei ve shi el d i nner shi el d
8 t xd r s232 t r ansmi t n. c. not connect ed
9 gnd syst em gr ound n. c. not connect ed
10 gnd syst em gr ound
11 sda i 2c ser i al dat a
12 scl i 2c ser i al cl ock
13 gpi o1 gener al pur pose di gi t al i nput 1
14 gpi o2 n/ a
15 gpi o3 gener al pur pose di gi t al out put 3
16 gpi o4 gener al pur pose di gi t al out put 4
17 an1 anal og i nput 1
18 an2 anal og i nput 2
19 anl g_out 1 anal og ouput 1
20 an3 anal og i nput 3
21 anl g_out 2 anal og ouput 2
22 emer gency emer gency st op
23 +5v 5vdc power out
24 pwm_out keep al i ve
25 a+ i ncr ement al si gnal s
26 l i mi t _sw_l ef t l i mi t swi t ch l ef t
27 a- encoder i ncr ement al si gnal s
28 l i mi t _sw_r i ght l i mi t swi t ch r i ght
29 b+ encoder i ncr ement al si gnal s
30 i ndex+ encoder r ef er ence mar k/ posi t i ve si gnal
31 b- i ncr ement al si gnal s
32 i ndex- encoder r ef er ence mar k/ negat i ve si gnal
33
34
gnd
gnd
syst em gr ound
syst em gr ound
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O R D E R I N G I N F O R M AT I O N
Part Number: IC000028
NM XCD BLANK
Part Number: XCD-XX-01
XCD SW/VER:1.1.0.4
R E L AT E D P R O D U C T S /
A C C E S S O R I E S
IC000028
All Nanomotion motors
EDGE motor
ER-15-4 motor
HR Motors
XCD Component
Application Recommendations
•
•
•
•
•
Auto Focus/Zoom Modules
Shutter & Aperture Control
Filter Changers
Pan and Tilt Modules
OEM Stages
Product Description
Nanomotion’s XCD drive & control is a
miniature closed loop servo control with
the smallest hardware for operating piezo
ceramic servo motors. The XCD provides
complete servo control for Security market
applications with a built in motor driver.
The XCD component is provided on a chip
level and can be integrated into user
electronics with the addition of a motor
power stage. The component level
product will accept single ended or
differential encoder input (motor size
dependent) and is programmed via an
IIC interface and our NanoCommander
user software.
w w w. n a n o m o t i o n . c o m

TECHNICAL SPECIFICATIONS
Mechanical:
Dimensions: 12mm x 12mm
height : 1.2 mm
Functional:
Motors supported:
All Nanomotion motors
Drive mode : AB5 , AB1
Support AQB sensor
(Single ended 5V/3.3V)
Communication: IIC, SPI (slave,
master), Uart (LVTTL).
Limit switch: left limit, right limit
Emergency (optional)
2 x input TTL (5v/3.3v)
2 x Input/Output LVTTL (3.3v)
3 x Analog input: NTC, Joystick,
Potentiometer
(Vin range: 0V to 3.3V)
2 x Analog out (pwm)
ELECTRICAL
Main power: 5V
ENVIRONMENTAL
Operating Temperature :
-40°C– 85°C
Nanomotion Ltd.
Worldwide Headquarters
Mordot HaCarmel Industrial Park
Yokneam 20692 Israel
t: +972 73 2498000
f: +972 73 2498099
e: nano@nanomotion.com
Nanomotion Inc.
U.S. Headquarters
IC000028 XCD Component
1 Comac Loop, Suite 14B2
Ronkonkoma, New York 11779
t: (800) 821-6266
t: (631) 585-3000
f: (631) 585-1947
e: nanoUS@nanomotion.com
MECHANICAL DRAWINGS AND INTERFACE
61
80
1,45
1,35
0,27
0,50 0,08 M
0,17
60
1
9,50 TYP
12,20
SQ
11,80
14,20
SQ
13,80
41
20
40
21
0,05 MIN
1,60 MAX 0,08
ELECTRICAL INTERFACE
GPIO11/EPWM6B/LINRXA
GPIO5/EPWM3B/SPISIMOA/ECAP1
GPIO4/EPWM3A
GPIO40/EPWM7A
GPIO10/EPWM6A/ADCSOCBO
GPIO3/EPWM2B/SPISOMIA/COMP2OUT
GPIO2/EPWM2A
GPIO1/EPWM1B/COMP1OUT
GPIO0/EPWM1A
VDDIO
VSS
VDD
VREGENZ
GPIO34/COMP2OUT/COMP3OUT
GPIO15/ TZ1/LINRXA/ SPISTEB
GPIO13/ TZ2/SPISOMIB
GPIO14/ TZ3/LINTXA/SPICLKB
GPIO20/EQEP1A/COMP1OUT
GPIO21/EQEP1B/COMP2OUT
GPIO24/ECAP1/SPISIMOB
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
S
M
T
/
6
3
O
I
P
G
0,25
0,75
0,45
Seating Plane
60
59
58
57
56
55
54
53
52
51
50
49
48
47
46
45
44
43
42
41
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
A
X
T
N
I
L
/
S
1
P
E
Q
E
/
2
2
O
I
P
G
I
D
T
/
5
3
O
I
P
G
O
A
C
O
S
C
D
A
/
I
C
N
Y
S
M
W
P
E
/
A
A
D
S
/
2
3
O
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O
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T
/
7
3
O
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P
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O
B
C
O
S
C
D
A
/
O
C
N
Y
S
M
W
P
E
/
A
L
C
S
/
3
3
O
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N
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K
L
C
X
/
K
C
T
/
8
3
O
I
P
G
A
X
R
N
I
L
/
I
1
P
E
Q
E
/
3
2
O
I
P
G
GPIO39
GPIO19/ XCLKIN/
SPISTEA
T
U
O
1
P
M
O
C
/
2
4
O
I
P
G
1
P
A
C
E
/
A
X
R
N
I
L
/
T
U
O
2
P
M
O
C
/
3
4
O
I
P
G
VDD VDD VSS X1
X2
VSS S
R
X
T
S
R
T
O
C
N
Y
S
M
W
P
E
/
I
C
N
Y
S
M
W
P
E
/
A
4
M
W
P
E
/
6
O
I
P
G
7
A
N
I
C
D
A
A
D
X
R
I
C
S
/
B
4
M
W
P
E
/
7
O
I
P
G
6
O
I
A
/
A
3
P
M
O
C
/
6
A
N
I
C
D
A
GPIO41/
EPWM7B
GPIO12/ TZ1/
SCITXDA/
SPISIMOB
GPIO16/
SPISIMOA/
TZ2
GPIO44
GPIO25/
SPISOMIB
GPIO8/
EPWM5A/
ADCSOCAO
GPIO17/
SPISOMIA/
TZ3
GPIO18/
SPICLKA/
LINTXA/
XCLKOUT
5
A
N
I
C
D
A
4
O
I
A
/
A
2
P
M
O
C
/
4
A
N
I
C
D
A
3
A
N
I
C
D
A
2
O
I
A
/
A
1
P
M
O
C
/
2
A
N
I
C
D
A
1
A
N
I
C
D
A
0
A
N
I
C
D
A
VREFHI VDDA 0,13 NOM
Gage Plane
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
0°–7°
GPIO28/SCIRXDA/SDAA/TZ2
GPIO9/EPWM5B/LINTXA
TEST2
GPIO26/SPICLKB
VDDIO
VSS
GPIO29/SCITXDA/SCLA/TZ3
GPIO30/CANRXA
GPIO31/CANTXA
GPIO27/SPISTEB
ADCINB7
ADCINB6/COMP3B/AIO14
ADCINB5
ADCINB4/COMP2B/AIO12
ADCINB3
ADCINB2/COMP1B/AIO10
ADCINB1
ADCINB0
VREFLO
VSSA
w w w. n a n o m o t i o n . c o m

TECHNICAL SPECIFICATIONS
Mechanical:
Dimensions: 12mm x 12mm
height : 1.2 mm
Functional:
Motors supported:
All Nanomotion motors
Drive mode : AB5 , AB1
Support AQB sensor
(Single ended 5V/3.3V)
Communication: IIC, SPI (slave,
master), Uart (LVTTL).
Limit switch: left limit, right limit
Emergency (optional)
2 x input TTL (5v/3.3v)
2 x Input/Output LVTTL (3.3v)
3 x Analog input: NTC, Joystick,
Potentiometer
(Vin range: 0V to 3.3V)
2 x Analog out (pwm)
ELECTRICAL
Main power: 5V
ENVIRONMENTAL
Operating Temperature :
-40°C– 85°C
Nanomotion Ltd.
Worldwide Headquarters
Mordot HaCarmel Industrial Park
Yokneam 20692 Israel
t: +972 73 2498000
f: +972 73 2498099
e: nano@nanomotion.com
Nanomotion Inc.
U.S. Headquarters
IC000028 XCD Component
1 Comac Loop, Suite 14B2
Ronkonkoma, New York 11779
t: (800) 821-6266
t: (631) 585-3000
f: (631) 585-1947
e: nanoUS@nanomotion.com
MECHANICAL DRAWINGS AND INTERFACE
61
80
1,45
1,35
0,27
0,50 0,08 M
0,17
60
1
9,50 TYP
12,20
SQ
11,80
14,20
SQ
13,80
41
20
40
21
0,05 MIN
1,60 MAX 0,08
ELECTRICAL INTERFACE
GPIO11/EPWM6B/LINRXA
GPIO5/EPWM3B/SPISIMOA/ECAP1
GPIO4/EPWM3A
GPIO40/EPWM7A
GPIO10/EPWM6A/ADCSOCBO
GPIO3/EPWM2B/SPISOMIA/COMP2OUT
GPIO2/EPWM2A
GPIO1/EPWM1B/COMP1OUT
GPIO0/EPWM1A
VDDIO
VSS
VDD
VREGENZ
GPIO34/COMP2OUT/COMP3OUT
GPIO15/ TZ1/LINRXA/ SPISTEB
GPIO13/ TZ2/SPISOMIB
GPIO14/ TZ3/LINTXA/SPICLKB
GPIO20/EQEP1A/COMP1OUT
GPIO21/EQEP1B/COMP2OUT
GPIO24/ECAP1/SPISIMOB
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
S
M
T
/
6
3
O
I
P
G
0,25
0,75
0,45
Seating Plane
60
59
58
57
56
55
54
53
52
51
50
49
48
47
46
45
44
43
42
41
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
A
X
T
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S
1
P
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2
2
O
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/
5
3
O
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O
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C
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M
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A
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2
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3
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A
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3
3
O
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N
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K
L
C
X
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K
C
T
/
8
3
O
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G
A
X
R
N
I
L
/
I
1
P
E
Q
E
/
3
2
O
I
P
G
GPIO39
GPIO19/ XCLKIN/
SPISTEA
T
U
O
1
P
M
O
C
/
2
4
O
I
P
G
1
P
A
C
E
/
A
X
R
N
I
L
/
T
U
O
2
P
M
O
C
/
3
4
O
I
P
G
VDD VDD VSS X1
X2
VSS S
R
X
T
S
R
T
O
C
N
Y
S
M
W
P
E
/
I
C
N
Y
S
M
W
P
E
/
A
4
M
W
P
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/
6
O
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P
G
7
A
N
I
C
D
A
A
D
X
R
I
C
S
/
B
4
M
W
P
E
/
7
O
I
P
G
6
O
I
A
/
A
3
P
M
O
C
/
6
A
N
I
C
D
A
GPIO41/
EPWM7B
GPIO12/ TZ1/
SCITXDA/
SPISIMOB
GPIO16/
SPISIMOA/
TZ2
GPIO44
GPIO25/
SPISOMIB
GPIO8/
EPWM5A/
ADCSOCAO
GPIO17/
SPISOMIA/
TZ3
GPIO18/
SPICLKA/
LINTXA/
XCLKOUT
5
A
N
I
C
D
A
4
O
I
A
/
A
2
P
M
O
C
/
4
A
N
I
C
D
A
3
A
N
I
C
D
A
2
O
I
A
/
A
1
P
M
O
C
/
2
A
N
I
C
D
A
1
A
N
I
C
D
A
0
A
N
I
C
D
A
VREFHI VDDA 0,13 NOM
Gage Plane
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
0°–7°
GPIO28/SCIRXDA/SDAA/TZ2
GPIO9/EPWM5B/LINTXA
TEST2
GPIO26/SPICLKB
VDDIO
VSS
GPIO29/SCITXDA/SCLA/TZ3
GPIO30/CANRXA
GPIO31/CANTXA
GPIO27/SPISTEB
ADCINB7
ADCINB6/COMP3B/AIO14
ADCINB5
ADCINB4/COMP2B/AIO12
ADCINB3
ADCINB2/COMP1B/AIO10
ADCINB1
ADCINB0
VREFLO
VSSA
w w w. n a n o m o t i o n . c o m