AB1A Driver Box User Maual 2d Editio AUGUST 2001 P/N :AB1A-458-000-c AB1A Driver Box User Maual A
Copyright This documet cotais proprietary iformatio of Naomotio Ltd, ad Naomotio Ic, ad may ot be reproduced i ay form without prior writte coset from Naomotio Ltd ad Naomotio Ic Preface Iformatio i this documet is subject to chage without otice ad does ot represet a commitmet o the part of NANOMOTION No part of this documet may be reproduced, traslated, stored i a retrieval system or trasmitted i ay form ad by ay meas, electroic, mechaical, photographic, photocopyig, recordig, or otherwise, without the writte permissio of NANOMOTION Copyright Jue 2001, Yokeam Israel All rights reserved All products ad compay ames are trademarks or registered trademarks of their respective holders About the User's Maual This user maual provides iformatio ad istructig o how to operate the various AB1A cofiguratios AB1A Driver Box User Maual B
AB1A Driver Box User Maual C
CE Compliace The AB1A driver box complies with the Europea coucil directives: EMC: Coucil directive 89/336/EEC: Emissios Stadard: EN 50081-2:1993 / EN 55011:1991? Coducted Emissio class A? Radiated Emissio class A Immuity Stadard: EN 50082-2:95 Electro Static Discharge (ESD) Stadard: EN 61000-4-2:95 Radiated Immuity Stadard: EN 61000-4- 3:96 / ENV 50204:95 EFT (Electrical Fast Trasiets) Stadard: EN 61000-4-4:95 Coducted Immuity Stadard: EN 61000-4-6:96 Surges Stadard: EN 61000-4-5:95 Voltage Variatios Stadard: EN 61000-4- 11:94 SAFETY: coucil directive 73/23/EEC: Safety: IEC 61010-1:1990 AB1A Driver Box User Maual D
Table of Cotets CHAPTER 1: INTRODUCT ION1 11 Geeral 1 12 Operatig Priciples 3 CHAPTER 2: CONNECTION INTERFACES 5 21 Frot Pael Descriptio5 22 Aalog Iput Specificatios6 221 Opto-isolated Iputs7 222 Fault Outputs7 CHAPTER 3: INSTALLATION9 31 Safety Warigs 9 32 Exteral Power Supply Specificatios9 33 Cablig coectios 10 34 Modifyig the AB1A Box Cofiguratio10 341 Cofiguratio Criteria11 342 Opeig the AB1A Box 12 343 AB1A Card Descriptio12 344 LC Card Type ad Cofiguratio 13 345 Voltage Source Cofiguratio17 35 Motor Coectios19 36 Before Operatig the Motor20 CHAPTER 4: ELECTRICAL INTERFACES21 41 Coectors Descriptios 21 411 Cotrol Termial Descriptio 21 412 Motor Output 22 413 I/O Port (Digital/Aalog Cotrol Iterface) 23 42 System Iterface25 421 Sigle Eded Aalog Iterface25 422 Differetial Aalog Iterface26 423 Joystick Iterface27 AB1A Driver Box User Maual E
CHAPTER 5: APPENDIX28 51 Specificatios28 52 Mechaical Dimesios29 53 Usig the AB1A to drive LS motors 24 54 Limited Warraty 25 AB1A Driver Box User Maual F
Chapter 1: Itroductio 11 GENERAL The AB1A is a sigle axis amplifier box desiged to drive up to 32 motor elemets i parallel The AB1A may be operated i oe of two modes: Velocity mode i which the motor is drive cotiuously, or Step mode i which the driver output is tured OFF ad ON at set itervals i order to drive the motor i discrete steps Step mode operatio is illustrated i Figure 1, where the output is ON for 1/16 secod at 05 secod itervals The amplitude of the output correspods to the Aalog iput value ad thus determies the speed of the motor Output [o/off] 1/16 sec T [sec] 05 sec Figure 1: AB1A output i Step mode AB1A Driver Box User Maual 1
AB1A Driver Box features:? High precisio (11 bits) cotrol of the output power stage? Drives up to 32 Naomotio motor elemets i parallel? STEP mode operatio? Iterfaces to a Aalog commad? Discrete iputs eable feedback from exteral sources such as limit switches, emergecy stop commad, etc? Idicator LEDs? Output short circuit protectio? Miimized sesitivity to cable legth? Differetial Heat Sesor iput (optio)? Master Slave mode of operatio (optio)? Compact dimesios AB1A Driver Box User Maual 2
12 OPERATING PRINCIPLES The AB1A Driver Box cotais the AB1A Card ad a LC Card The AB1A Card coverts the aalog iput commad sigal ito a correspodig PWM square wave output sigal that is fed to the LC Card The LC Card filters the sigal to produce the output voltage that drives the motor The LC Card type correspods to the umber of motor elemets to be used, ad depedig o the umber of elemets i the cofiguratio, it may be either itegrated iterally or separately housed exterally The required DC voltages are supplied by a iteral DC-to-DC coverter that is fed from a exteral +48V power supply The followig figure shows a typical applicatio Power Supply +48 VDC Commad Source AB1A Box AB1A Card PWM Output sigal DC/DC Coverter +5V, 12V +33V Amplifier Circuit LC Card High Voltage Naomotio Motor AB1A Driver Box User Maual 3
Figure 2: AB1A Block Diagram The motor is a three-termial compoet: UP, DOWN ad COMMON Voltage applied betwee the UP ad the COMMON termials causes the motor to move i oe directio, while voltage applied betwee the DOWN ad the COMMON termials causes the motor to move i the opposite directio Below is a schematic drawig of the output stage AB1A PWM - Square wave o the amplifier output +48v H-BRIDGE LC Card AC output that drives the motor "Commo" "Phase" "Up" UP COMMON DIRECTION CONTROL "Dow" DOWN NANOMOTION MOTOR Figure 3: Schematic of the Output Stage with a iteral LC Card AB1A Driver Box User Maual 4
Chapter 2: Coectio Iterfaces 21 FRONT PANEL DESCRIPTION All coectios ad idicators are located o the frot pael There are three coectors (Cotrol Termial, I/O Port, ad Motor Out), ad two idicators (Alarm 1, Alarm 2) The coectors ad idicators are described i the followig tables Figure 4: AB1A Box Frot Pael Cotrol Termial Table 1: Frot Pael Coectors Coector Cotrol termial Descriptio 5 pi coector Provides iput from a exteral +48VDC power supply (65A max) Provides direct cotrol of the motor ENABLE sigal Note: The motor may be operated with miimum cotrol sigals applied to the Cotrol Termial: +48V,GND POWER, VIN+, VIN-, ENABLE_IN The primary voltage (+48V) is supplied from a exteral source I/O Port Motor Out D-type 25 pi coector female - Iterfaces to the cotrol source (joystick or cotroller) D-type 9 pi coector male -Iterfaces to the motor AB1A Driver Box User Maual 5
Table 2: Frot Pael Idicators Coditio Alarm 1 Alarm 2 VCC < 46V Off Off Motor Discoected Orage Off Motor Disable Off Orage OK (Motor coected ad eabled) Gree Off Over-curr et Protectio Red Red 22 ANALOG INPUT SPECIFICATIONS Aalog iput specificatios Sigal type: Differetial or Sigle Eded Iput voltage rage: ±10V Iput impedace: Iput low pass filter: 500KΩ Specific frequecies betwee 08KHz to 10KHz, accordig to cofiguratio Differetial coectio This coectio provides oise immuity AB1A Vi+ From cotroller Vi- AB1A Driver Box User Maual 6
Figure 5: Differetial Aalog Iput Coectio Sigle Eded coectio AB1A Vi+ From cotroller Vi- Gd Figure 6: No-Differetial (sigle eded) Aalog Iput Coectio 221 Opto-isolated Iputs The followig iput iterfaces are optoisolated ad are activated by shortig them to groud: Emergecy Stop (ES) Disables the AB1A output Eable Should be eabled before the motor is activated I Mode Eables Step Mode operatio whe activated Left Limit Whe activated, it disables motor motio to the left Right Limit Whe activated, it disables motor motio to the right 222 Fault Outputs Fault : A ope collector output that is active (shorted to groud) uder the followig coditios: AB1A Driver Box User Maual 7
? The card is disabled by the Over Curret Protectio circuit? The motor is ot coected ad the Motor Discoect sigal is floatig NOTE: The Fault output is capable of sikig a maximum of 20mA, ad is ot protected from over curret AB1A Driver Box User Maual 8
Chapter 3: Istallatio 31 SAFETY WARNINGS WARNINGS: Output voltage is 260Vrms max Oly authorized persoel may hadle the AB1A Driver Box Be sure to discoect all coectors ad cables to the AB1A box before removig the cover 32 EXTERNAL POWER SUPPLY SPECIFICATIONS AB1A power cosumptio without motor: +48VDC/125mA Supply Voltage Curret cosumptio Usage +48v ±5% 200mA max Whe 1x HR1 is coected 500mA max 800mA max 1200mA max Whe 1x HR2 is coected Whe 1x HR4 is coected Whe 1x HR8 is coected NOTE: The required power supply value should be calculated by addig the total power cosumptio of all the motors that are coected to the AB1A power cosumptio without motor AB1A Driver Box User Maual 9
(+48VDC/125mArms) accordig to the followig: I = 125mA + *( curret cosumptio of sigle motor) = Number of motors that are coected (= 1/2/3/4) 33 CABLING CONNECTIONS Coect the followig groups of cables together, isolatig each of the sigals? POWER SUPPLIES - use 22 AWG wires (or lower AWG) for the power supplies For oisy surroudigs, it is recommeded to twist the groud lie ad the power lie together? ANALOG Commad a twisted shielded cable is recommeded? DISCRETE INPUTS - These sigals are ot sesitive to oise ad ca be grouped together i the same haress with ay of the other groups? SHIELDING- Sice the high motor voltage is iduced placed o the cable shield, it is required to make a good groud coectio to the shield o both sides The driver card ad the motor should be grouded to the ifrastructure earth 34 MODIFYING THE AB1A BOX CONFIGURATION To adjust the AB1A Box accordig to your cofiguratio criteria (sectio 341), it may be ecessary to ope the uit (sectio AB1A Driver Box User Maual 10
342), ad make some chages o the AB1A Card (342) 341 Cofiguratio Criteria Below is a list of the criteria that may affect the card cofiguratio: Chagig the type of motor or the umber of motor elemets i your cofiguratio requires chagig the LC Card type ad possibly its cofiguratio (sectio 344) Chagig the voltage source from a iteral (default) to a exteral source, or vice versa, requires the LC Card to be cofigured accordigly (sectio 345) AB1A Driver Box User Maual 11
342 Opeig the AB1A Box To ope the AB1A Driver Box: 1 Be sure all coectios are removed from the AB1A box 2 Remove the six screws that secure the AB1A top cover, ad set the top cover aside The AB1A boards ad compoets are exposed 3 Make the ecessary modificatios 4 Reassemble the cover 5 Replace labels o the AB1A frot pael uder the Motor Out coector to idicate the type motor that should be coected 6 Recoect cables ad test the AB1A Box operatio 343 AB1A Card Descriptio The AB1A Card (Figure 7) cosists of DC/DC coverters that provide the voltages ecessary to operate the amplifier circuit: +5V, ±12V, +33V I additio, the card cotais two idicator LED s ad the exteral iterface coectors for the INPUT, MOTOR, ad I/O sigals The system cofiguratio may call for a LC Card that is coected either iterally to the AB1A Card, or exterally i a separate LC Box If the LC Card coectio is exteral, the it is required to coect a adapter card to the AB1A Card (as illustrated i the figure below) The adapter card shorts the ecessary pis to eable the coectio of the exteral LC Card AB1A Driver Box User Maual 12
AB1A Card LC Card Jumper 1 (Voltage Source) Fuse (10A) Motor Out (male coector) Cotrol Termial LEDs idicators I/O Port Motor out Figure 7: AB1A Card 344 LC Card Type ad Cofiguratio The LC Card type ad cofiguratio depeds o the umber of motor elemets drive? For 1 to 16 elemets, the LC circuit is iteral to the AB1A (LC card)? For 32 elemets, the LC circuit is exteral to the AB1A (LC box) Each LC Card type is specifically desiged to support a specific umber of elemets (please see Table 3 below) AB1A Driver Box User Maual 13
AB1A Driver Box User Maual 14
AB1A Driver Box User Maual 15 N U M B E R O F E L E M E N T S C 2 C 3 C 4 I N D U C T O R T O T A L C A B L E L E N G T H ( * * ) 1 N o t c o e c t e d N o t c o e c t e d 0 2 2 F 8 5 m H 0 1 5 m 2 N o t c o N o t c o 2 2 F 3 7 m H 0 1 5
AB1A Driver Box User Maual 16 e c t e d e c t e d m 4 N o t c o e c t e d N o t c o e c t e d 4 7 F 1 8 4 m H 0 1 1 0 m 8 5 6 F S h o r t e d 5 6 F 0 8 m H 0 1 1 0 m 1 6 S h o r t e d 4 7 F 4 7 F ( 2 2 F 5 6 F ( 0 4 8 m H 0 1 1 0 m
( * ) ( * ) 3 2 4 Exteral LC boxes, oe for each 8 elemets 0 4 4 0 m (*) Two capacitors i parallel (**) Naomotio stadard cables Brachig is possible to 2 ad 4 idetical motors Brach cables must be of idetical legth, the sum of which ot exceedig the allowed total cable legth Table 3: LC Circuit Compoets for Stadard Applicatios Replacig a iteral LC Card To replace a iteral LC Card with a exteral oe, it is first required to remove the iteral LC Card ad replace it with the appropriate adapter (see Sectio 343 AB1A Card Descriptio) NOTE: Either a iteral LC Card or a adapter must be coected to the iteral LC coector 345 Voltage Source Cofiguratio The opto-isolated iput sigals (221) are activated as short-to-groud The voltage for the opto-isolated circuit (see Figure 9) is provided by either the iteral +5V supply (default state) or a exteral voltage supply via pi 20 o the I/O Port coector The circuit is the closed by a Iput Commad shorted to groud AB1A Driver Box User Maual 17
Cofigure Jumper 1 (located ear U1) o the AB1A Card accordig to the voltage source: Pi 1 shorted to Pi 2, for a iteral +5V source (factory settig) Pi 2 shorted to Pi 3, for a exteral voltage source ATTENTION: Be sure that you do ot short Pi 1 to Pi 3 o Jumper 1 Doig so will short the exteral power supply to the +5V supply! The iput circuit is limited to sik up to 10mA but ot less tha 3mA Iteral voltage source Exteral voltage source Figure 8: Jumper 1 Cofiguratio The coectios are show i the followig figure AB1A Driver Box User Maual 18
User Voltage VCC Jumper 1 1 VCC 390Ω To cotrol logic Commad Iput AB1A Figure 9: Opto-Isolated iputs iterface 35 MOTOR CONNECTIONS The Motor Discoect sigal is available oly at the motor coector, where it is shorted to groud This esures that uprotected motor pis will ot be exposed to high voltage whe the motor is ot coected If more tha oe motor is coected to the AB1A Driver Box, it is required to use a suitable brach cable ATTENTION: If you chage the motor type, it may also be ecessary to chage the LC Card type Cosult NANOMOTION for the appropriate LC Card for your motor(s) For proper operatio, use oly LC Card or boxes ad brach cables supplied by NANOMOTION Ltd Do ot chage the cable legth without first cosultig Naomotio s techical support (For further iformatio refer to the motor maual) AB1A Driver Box User Maual 19
36 BEFORE OPERATING THE MOTOR Before operatig the AB1A please verify the followig:? The correct iteral/exteral LC CardLLQVWDOHGVHFWLRQ? Jumper JP1 is set to the required mode of operatio VHWLRQ? The box is tightly closed by the 6 screws? The correct label idicatig motor type is affixed to the box? All coectors are locked by screws? The exteral power supply is capable of supplyig the required power cosumptio of the AB1A (Sectio 32)? There is o commad whe switchig the power to ON? Make sure that all motors that are to be drive by the AB1A are preloaded ATTENTION: The commad should be limited accordig to the evelope of performace of the motor Refer to the Motor User Maual AB1A Driver Box User Maual 20
Chapter 4: Electrical Iterfaces 41 CONNECTOR DESCRIPTIONS 411 Cotrol Termial Descriptio Table 3: Cotrol Termial Pi Descriptio Pi Sigal Name Type 1 +48V +48VDC POWER SUPPLY 2 GND GROUND 3 VIN+ ANALOG INPUT 4 VIN- ANALOG INPUT 5 ENABLE_IN ENABLE INPUT NOTE: Sigals +VIN ad -VIN ad ENABLE_IN are idetical i the I/O port (Table 5) ad i the Cotrol Termial block (Table 3) The appropriate 5 pi female coector is supplied by Naomotio for easy cable iterface AB1A Driver Box User Maual 21
412 Motor Output Table 4: Motor Out Port Descriptio Pi Sigal Name Fuctio Descriptio 1 GND Power supply groud Shorted to shield 2 Motor_Phase 48V PWM sigal For a exteral LC Box, coected to the capacitor i the LC Box; otherwise ot coected 3 Motor_Up 48V PWM sigal Coected to the motor UP termial 4 Motor Commo 48V PWM sigal Coected to the motor COMMON termial 5 Motor_Dow 48V PWM sigal For a exteral LC Box, coected to the Iducator I The LC Box; Otherwise Coected to the motor dow termial 6 Motor Coected Opto-coupled Safety iput, coected to groud via short o the motor coector to eable motor operatio 7 GND Power supply groud Shorted to shield 8 Motor i High sie wave sigal For a exteral LC Box coected to the AC switch circuit 9 NC NOT INUSE Optio AB1A Driver Box User Maual 22
413 I/O Port (Digital/Aalog Cotrol Iterface) Table 5: I/O Port Pi Descriptio Pi Name Descriptio 1 VIN+ Positive aalog commad iput 2 GND Groud 3 FAULT Ope collector output 4 GND Groud 5 NOT IN USE -- 6 DIRECTION* TTL iput (optio) 7 - HEAT_SENSOR Optioal 8 SYNC_OUT Optioal 9 GND Groud 10 LEFT_LIMIT* Digital Iput For Left Limit Switch Active Low 11-12V* -12v Power Supply For Exteral Device 12 EMERGENCY_STOP* Protectio Iput Active Low 13 USER_VOLTAGE* Exteral power supply for the opto-isolated type iputs 14 VIN- Negative aalog commad iput 15 GND Groud 16 STEP_MODE* Mode Selectio 17 RESET_IN System iitializatio 18 NOT IN USE -- 19 NOT IN USE -- 20 + HEAT_SENSOR Optioal 21 SYNC_IN Optioal 22 RIGHT_LIMIT* Digital Iput For Left Limit Switch - Active Low 23 +12V* +12V Power Supply For Exteral Device 24 ENABLE_IN* Digital Iput - Active Low 25 +5V* +5V Power Supply For Exteral Device *NOTE Further explaatios for some of the above sigals are give i the followig table AB1A Driver Box User Maual 23
Descriptios of the Cotrol Iterface sigals Sigal Limit Switches Step_Mode Descriptio The AB1A has two opto-isolated limit switch iputs ( Left Limit ad Right Limit ) These iputs tur the motor off whe the mechaical elemet drive by the motor reaches the ed motio Whe the limit switch is active (shorted to groud), the motio i the correspodig directio is disabled, ad oly motio i the other directio is possible Determies the AB1A mode of operatio (Velocity or Step Mode) Emergecy_Stop Safety iput This opto-isolated iput disables the card output whe activated Eable_I Cotrol iput Eables box operatio whe shorted to groud -12V Accessory voltage use for powerig exteral compoet max 700mW Groud is at the GND pi +12V Accessory voltage use for powerig exteral compoet max 700mW Groud is at the GND pi +5V Accessory voltage use for powerig exteral compoet max 75W Groud is at the GND pi DIRECTION TTL iput sigal - determies the motor directio whe usig the AB1A with a specific exteral cotroller AB1A Driver Box User Maual 24
42 SYSTEM INTERFACE This sectio describes the pi iterfaces for Aalog, Differetial, ad Joystick iputs 421 Sigle Eded Aalog Iterface DC POWER SUPPLY AB1A ENABLE 5 Vi- 4 Vi+ 3 GND 2 +48V 1 2x LEDS BLOCK TERMINAL MALE MODE GND 15 DC/DC IMode 16 CONTROLLER Vout+ Vout- Shield STATUS ENABLE Twisted ad shielded cable Vi+ 1 Vi- 14 GND 2 GND 9 FAULT 3 ENABLE 24 D-TYPE 25 PIN MALE D-TYPE 25 PIN FEMALE Amplifier Circuit PLANT Emergecy Stop 12 Right Limit22 Left Limit 10 GND 4 LC CIRCUIT D TYPE 9 PIN MALE D TYPE 9 PIN FEMALE UP COM DOWN GND MDIS PHASE GND 3 4 5 1 6 2 7 NANOMOTION Motor Figure 10: No-differetial (commo) Iput Iterface AB1A Driver Box User Maual 25
422 Differetial Aalog Iterface DC POWER SUPPLY AB1A ENABLE 5 Vi- 4 Vi+ 3 GND 2 +48V 1 2x LEDS BLOCK TERMINAL MALE MODE GND 15 IMode 16 DC/DC CONTROLLER PLANT Vout+ Vout- Shield STATUS ENABLE Twisted ad shielded cable Vi+ 1 Vi- 14 FAULT 3 ENABLE24 D-TYPE 25 PIN MALE D-TYPE 25 PIN FEMALE Amplifier Circuit Emergecy Stop12 Right Limit22 Left Limit 10 GND 4 LC CIRCUIT D TYPE 9 PIN MALE D TYPE 9 PIN FEMALE UP COM DOWN GND MDIS PHASE GND 3 4 5 1 6 2 7 NANOMOTION Motor Figure 11: Differetial Iterface AB1A Driver Box User Maual 26
423 Joystick Iterface AB1A 2x LEDS ENABLE 5 Vi- 4 Vi+ 3 2 BLOCK TERMINAL MALE DC POWER SUPPLY GND +48V 1 MODE GND 15 IMode 16 DC/DC POTENSIOMETE JOYSTICK R Vout+ Shield PLANT Status Twisted ad shielded cable +12V 23 Vi+ 1-12V GND Fault Eable Emergecy Stop Right Limit Left Limit Gd 11 9 Vi- 14 GND 2 3 24 12 22 10 4 D-TYPE 25 PIN MALE D-TYPE 25 PIN FEMALE LC CIRCUIT Amplifier Card D TYPE 9 PIN MALE D TYPE 9 PIN FEMALE UP COM DOWN GND MDIS PHASE GND 3 4 5 1 6 2 7 NANOMOTION MOTOR Figure 12: Joystick Iterface AB1A Driver Box User Maual 27
Chapter 5: Appedix 51 SPECIFICATIONS Electrical specificatios Power Iput +48VDC ±5% Max Motor Output 250-290Vrms Power Cosumptio without Load +48VDC/0125A Power Cosumptio with Max load +48VDC/65Amax Physical dimesios Mechaical Dimesios (WxDxH) Weight Mout ig optios 149x1185x41 (without moutig bracket) 450 gr Desk top / Wall mout Evirometal Specificatios Operatig Temperature 0 C to 50 C Storage Temperature -40 to 70 C Operatig Humidity Up to 80% User Maual 28
Chapter 5: Appedix 52 MECHANICAL DIMENSIONS The followig figure describes the dimesios of the AB1A Box 41 149 1112 72 26 45 19 TYPx2 TYPx2 2 SLOTS FOR MOUNTING (M4 DIN 7985) Figure 13 : AB1A Mechaical Dimesios I mm AB1A Driver Box User Maual 29
Chapter 5: Appedix AB1A Driver Box User Maual 30
Chapter 5: Appedix 53 USING THE AB1A TO DRIVE LS MOTORS Uder ormal operatig coditios, the LS series of motors should ot be operated i a commad exceedig 35V To allow some margi i cases where mometarily a higher force is required, the AB1A for the LS series of motors is hardware limited to 5V Naomotio expects that i usig the motors, the commadig cotroller will protect the motor, ad assumes that i cotiuous operatio the commad will ot exceed 35V This protectio scheme is as follows: the torque limit at the cotroller must be set to half of the full commad (5V), ad be limited to 5 secods The RMS torque limit at the cotroller must be set to 035 of the full commad AB1A Driver Box User Maual 31
Chapter 5: Appedix 54 LIMITED WARRANTY Naomotio (hereiafter NM) warrats the product (other tha software) maufactured by it to be free from defects i material ad workmaship for a period of time of oe year (except those parts ormally cosidered as cosumable/expedable compoets such as motor coditioig brushes) The warraty commeces thirty (30) days from the date of shipmet NM warrats those parts replaced uder warraty for a period equal to the remaiig warraty coverage of the origial part NM s sole ad exclusive obligatio uder this warraty provisio shall be to repair, or at its sole optio exchage defective products or the relevat part or compoet, but oly if : (i) the Purchaser reports the defect to NM i writig ad provides a descriptio of the defective product ad complete iformatio about the maer of its discovery withi te (10) days of its discovery; (ii) NM has the opportuity to ivestigate the reported defect ad determies that the defect arises from faulty material, parts or workmaship; ad (iii) the Purchaser returs the affected product to a locatio desigated by NM These provisios costitute the exclusive remedy of the Purchaser for product defects or ay other claim of liability i coectio with the purchase or use of NM products This warraty policy applies oly to NM products purchased directly from NM or from a authorized NM distributor or represetative This warraty shall ot apply to (i) products repaired or altered by ayoe other tha those authorized by NM; (ii) products subjected to egligece, accidets or damage by circumstaces beyod NM cotrol; (iii) product subjected to improper operatio or maiteace (ie operatio ot i accordace with NM Istallatio Mauals ad/or istructios) or for use other tha the origial purpose for which the product was desiged to be used NM shall ot i ay evet have obligatios or liabilities to the Purchaser or ay other party for loss of profits, loss of use or icidetal, icreased cost of operatio or delays i operatio, special or cosequetial damages, whether based o cotract, tort (icludig egligece), strict liability, or ay other theory or form of actio, eve if NM has bee advised of the possibility thereof, arisig out of or i coectio with the maufacture, sale, delivery, use, repair or performace of the NM products Without limitig the geerality of the precedig setece, NM shall ot be liable to the Purchaser for persoal ijury or property damages AB1A Driver Box User Maual 32