Varedan Technologies LA Series Specifications

LA Series Linear Servo Amplifier
LA-210 (LA-200)
LA-415 (LA-407)
LA-525 (LA-508-25)
Technical Reference Manual
Manual Part Number: 4002-40 Rev. J
3870 Del Amo Blvd. Suite 503, Torrance CA, 90503
www.varedan.com
LA Series Linear Servo Amplifier Technical Reference Manual
Original Manual Revision October 6, 2004
Copyright 2004 Varedan Technologies
Corporate Office:
Varedan Technologies
3870 Del Amo Blvd., Suite 503
Torrance, CA 90503
Phone: 310-542-2320
Fax: 310-542-2344
Eastern Region Sales & Support
Phone: 860-295-0048
www.varedan.com
This document contains proprietary and confidential information of Varedan Technologies, LLC
and is protected under Federal copyright law.
The information in this document is subject to change without notice. No part of this document
may be reproduced or transmitted in any form without the express written consent of Varedan
Technologies, LLC.
Document Change History
Revision
Description
A
B
C
D
E
F
G
H
I
J
Original for new board design
Add connector mate information
Correct input filter jumper data
Change description for part number display, J8 improvements
Revised LA508-25 information
Changed LA508-25 to LA-525
Revise all part numbers, added -s wiring diagram
Add LA-210 jumper table
Add e and f commands and descriptions. Valid for v2.4.0 and above
Correct ABSI time in jumper descriptions
2
LA Series Linear Servo Amplifier Technical Reference Manual
!
CAUTION! READ THIS SECTION BEFORE PROCEEDING.
Warning! Potentially lethal voltages exist within the amplifier when power is
applied. Never attempt to handle or probe the amplifier with power applied.
This product contains static sensitive devices and requires proper handling with
ESD protection.
These amplifiers are capable of producing large amounts of energy. Serious
injury or death can result from improper motor or load movement. The amplifier
requires an external controller for Sinusoidal mode operation to commutate the
motor properly. In Trapezoidal mode operation, the amplifier requires properly
phased Hall sensors for commutation. Verify proper Hall sensor phasing and
motor direction before connecting any load to a motor.
Do not connect the motor to the system load during initial testing and installation.
These amplifiers require customer supplied airflow for proper operation.
Operation of the amplifier without proper cooling will void the warranty. Contact
the factory for information on adequate airflow for your application.
Be sure power is off when inserting or removing connectors or connections.
For motors with a phase to phase inductance of less than 250uH, please consult
the factory. A special set of current loop bandwidth components will need to be
installed for safe operation of the amplifier.
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LA Series Linear Servo Amplifier Technical Reference Manual
Contents
1
SPECIFICATIONS.................................................................................................................................7
2
MODEL NUMBERING ...........................................................................................................................8
3
PROTECTIVE FEATURES ...................................................................................................................9
4
OPERATIONAL DESCRIPTION .........................................................................................................10
5
LA-210 AND LA-415 JUMPER SETTINGS.........................................................................................11
6
LA-525 JUMPER SETTINGS ..............................................................................................................13
6.1 JUMPER DESCRIPTION ....................................................................................................................14
7
CONNECTOR CONFIGURATIONS....................................................................................................15
7.1 J1 SIGNAL CONNECTOR ..................................................................................................................15
7.2 J2 BIAS POWER CONNECTOR.........................................................................................................15
7.3 J3 MOTOR FEEDBACK CONNECTOR..............................................................................................15
7.4 J4 BUS POWER CONNECTOR..........................................................................................................16
7.5 J5 MOTOR PHASE CONNECTOR .....................................................................................................16
7.6 J6 INTERFACE P-BOARD CONNECTOR..........................................................................................16
7.7 J7 INTERFACE P-BOARD CONNECTOR..........................................................................................16
7.8 J8 STATUS OUTPUT CONNECTOR..................................................................................................17
7.9 J9 MOTOR TEMPERATURE SWITCH CONNECTOR.......................................................................17
7.10 J10 SERIAL COMMUNICATION CONNECTOR ................................................................................17
7.11 CONNECTOR PART NUMBERS........................................................................................................18
8
USER INTERFACES ...........................................................................................................................19
8.1 PUSH BUTTON ...................................................................................................................................19
8.2 LED DISPLAY......................................................................................................................................19
8.3 SOFTWARE VERSION DISPLAY.......................................................................................................19
8.4 L.E.D. ERROR CODES AND MEANING ............................................................................................20
8.5 STATUS INDICATOR/REMOTE DISPLAY PORT ..............................................................................22
8.6 SERIAL PORT .....................................................................................................................................22
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LA Series Linear Servo Amplifier Technical Reference Manual
8.6.1
SERIAL COMMANDS..................................................................................................................23
8.6.2
SERIAL PARAMETER SETTINGS .............................................................................................25
8.6.2.1
SOFTWARE PARAMETER SETTING TABLE SUMMARY ........................................................26
9
BALANCING ........................................................................................................................................27
9.1 AUTOBALANCE ..................................................................................................................................27
9.2 MANUAL BALANCE ............................................................................................................................28
10
TEST POINTS .....................................................................................................................................29
11
APPENDIX A. SERIAL COMMUNICATION MESSAGES...................................................................38
11.1 SIGN ON MESSAGE...........................................................................................................................39
11.2 ALARM MESSAGES ...........................................................................................................................39
11.3 AUTOBALANCE MESSAGES.............................................................................................................39
11.4 ENABLE STATUS MESSAGES ..........................................................................................................40
11.5 FACTORY DEFAULT MESSAGE .......................................................................................................40
11.6 HELP MESSAGES ..............................................................................................................................40
11.7 LIST MESSAGES ................................................................................................................................41
11.8 MODE COMMAND MESSAGES.........................................................................................................41
11.9 SAVE PARAMETERS MESSAGE ......................................................................................................41
11.10
FAULT HISTORY MESSAGES ...................................................................................................42
11.11
CLEAR FAULT HISTORY MESSAGE ........................................................................................42
11.12
SOA FAULT HISTORY MESSAGES ..........................................................................................43
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LA Series Linear Servo Amplifier Technical Reference Manual
List of Figures
Figure 1. LA-210, LA-415 Jumper Locations...............................................................................................12
Figure 2. LA-525 Jumper Locations ............................................................................................................13
Figure 3 Location of Jumpers, Balance Potentiometers and Test Points ..................................................30
Figure 4. Functional Block Diagram – All Models........................................................................................31
Figure 5. Installation Drawing Details ..........................................................................................................32
Figure 6. Typical Connections Single-Phase Models with “S” suffix ...........................................................33
Figure 7. Typical Connections Three-Phase Models with “T” suffix............................................................34
Figure 8. LA-210 Mechanical Dimensions...................................................................................................35
Figure 9. LA-415 Mechanical Dimensions...................................................................................................36
Figure 10. LA-525 Mechanical Dimensions.................................................................................................37
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LA Series Linear Servo Amplifier Technical Reference Manual
1 Introduction
The LA series of Linear Amplifiers are the perfect choice for systems requiring low
radiated noise and zero distortion from the drive electronics. These high power current mode
linear amplifiers are well suited to drive low inductance/resistance loads such as brushless and
brush servo motors or voice coils. Commutation options include externally commutated 2-phase
sine input, trapezoidal commutation using motor mounted hall sensors, or single-phase control.
With their true class AB linear output stage, their design features pure analog control
from input to output. The on-board DSP only provides monitoring functions and does not get
involved in the current control of the output stage.
The LA amplifiers are both extremely quiet and provide the ultimate in zero cross-over
distortion for smooth output positioning. The design of these amplifiers includes an on board
high speed DSP which monitors all key system functions in real time and provides protection for
the outputs by only allowing output power within the “Safe Operating Area” of the output
transistors. An intelligent user interface allows setup and storage of all system parameters via
the serial interface. Non-volatile memory provides storage of the parameters during power off
conditions.
1.1 Safe Operating Area
The LA amplifiers include a sophisticated algorithm that protects the outputs from over
power conditions. This algorithm is matched to the power characteristics of the output
transistors in each amplifier model. With linear servo amplifiers (as opposed to PWM amplifiers),
it is very important to provide over-power protection (rather than simple over-current protection)
due to the linear nature of the output control. In the case of PWM amplifiers, only over-current
protection is required since the outputs are operating in saturation mode or “full on mode”. This
mode provides very little voltage drop across the output transistors, so simple current monitoring
is sufficient to provide protection of the outputs.
With linear servo amplifiers, the outputs are operating in their linear region, so the
voltage across the output transistors can be a substantial contribution to the total power
dissipated by the device. To properly protect the amplifier from damage, the amplifier must
provide protection by monitoring the power (voltage * current) in the output devices. To put this
in perspective, the outputs used in our LA-415 (5A continuous, 15A peak) can handle 60A under
the proper conditions! It’s the power that has to be kept under control.
The DSP in the LA series amplifiers monitors the power of each output device in real
time as the device is switched on by the control circuitry. This instantaneous power
measurement is compared with the transistor manufactures recommended “safe operating area”
curve (published in all transistor specifications) stored in the DSP memory. The amplifier is shut
down in the event the measured power exceeds the recommended ratings of the output
devices.
Our Safe Operating Area (SOA) algorithm has proven to be very effective in protecting
the amplifier from damage due to over power conditions. While the user may experience
“nuisance” tripping of the SOA protective function during system development and testing, be
aware that the conditions that caused the “nuisance” trip may have very well have destroyed an
amplifier without this SOA protection.
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LA Series Linear Servo Amplifier Technical Reference Manual
2 Specifications
LA-210
LA-415
LA-525
Peak Output Current
10A
15A
25A
Continuous Output Current
2.5A
5A
10A
Peak Output Power (25°C)
400W
1200W
1500W
Continuous Power Dissipation (25°C)
200W
400W
500W
Weight
2.00 lbs
4.25 lbs
4.75 lbs
Size - Height
1.50 in.
2.25 in.
2.75 in.
Size - Length x Width
8.00 in. x 7.50 in.
Motor Bus Voltage – Bipolar
+/-12 to +/-75VDC
Bias Supply Voltage - Bipolar
+/-14.5 to +/-16.0V (@300mA each)
Max. Heat Sink Temperature
70°C
Current Loop Bandwidth*
Operating Modes
up to 10kHz
Sinusoidal (w/ external commutation) / Trapezoidal
Absolute Overcurrent Trip Time
Hall Sensor Supply (+5 Ext.)
Command Signal (A and B inputs)
50ms
+5V @ 100mA max.
+/-10V Single-Ended, +/-20V Differential
*This setting can be customized. Please contact the factory for details.
3 Model Numbering
The LA Series Linear Amplifier modules are available in various power options and in either
single-phase or 3-phase models.
Model Number Breakdown: LA-415-T
Linear Amplifier
Power Level (see table)
S=Single Phase, T= 3 phase
Note: Varedan Technologies recently changed the naming convention of the amplifier models
as follows. The new numbers simplify the product line model numbers only. There is no change
to the hardware.
Old Name
LA-200
LA-200S
LA-407
LA-407S
LA-508-25
LA-508-25S
New Name
LA-210-T
LA-210-S
LA-415-T
LA-415-S
LA-525-T
LA-525-S
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LA Series Linear Servo Amplifier Technical Reference Manual
4 Protective Features
DSP Fault – Set when the internal DSP checksum fails following reset
NVM Fault – Set when NVM checksum fails following reset. Parameter defaults set.
External +5V – Set when on board +5V supply for Halls is out of range
Autobalance Fault – Set when autobalance can’t balance amplifier outputs
ABS Overcurrent – Set when instantaneous overcurrent condition is detected
SOA – Set when Safe Operating Area protection detects an over power condition
5 VDC Reference error – Set when internal +5 reference supply is out of range
Bus Over Voltage – Set when Bus voltage is greater than maximum allowed (75 Vdc)
Hall Error – Set when hall sequence is invalid (0 or 7 value is read on hall inputs)
Fatal Error – Set if the DSP encounters an unidentified problem.
Amplifier Over Temp – Set when amplifier heat sink temperature exceeds 70 C.
Motor Over Temp – Set when motor temperature input is open
Overcurrent – Set when amplifier detects an overcurrent condition
Bus Under Voltage – Set when Bus voltage is less than the minimum allowed (10 Vdc)
Bias error – Set when Bias voltage input +/-15 is outside allowable range
2.5V Reference error – Set when internal 2.5V supply is out of range.
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LA Series Linear Servo Amplifier Technical Reference Manual
5 Operational Description
Before applying power to the amplifier be sure to read all sections in this document.
Upon power up of the +/- 15V bias supply, the amplifier derives all the necessary internal
voltages for operation related to the logic and output drivers. Once the proper levels are achieved, the
DSP is released from reset and begins operation. A series of internal checks are done to insure the DSP
is operating correctly. The I/O is initialized for operation if these checks pass. The NVM is then read and
the stored checksum is verified. If the system is setup to use jumpers, the jumpers are read; otherwise the
parameter information from NVM is used. The analog balance network is set to the stored balance
values. The version and revision number for the software is flashed on the display and the serial sign on
message is sent.
The state of the Enable input is read to determine whether the hardware enable input or the
software serial enable command should be used to enable the drive. If the hardware Enable input is
inactive (disabled state) the system allows software to control the Enable operation via the E command. If
at anytime during operation the Enable input goes active, the software mode is cancelled and the
hardware Enable input is used for control. The "e" command controls the active enable state (as of
version 2.4.0). The initialization process is now complete and the software enters main loop processing.
During main loop processing, the software runs in an endless loop performing the tasks
necessary for drive operation. Once per pass in the main loop, the 7-segment LED and status port are
updated, the inputs are scanned and the protective algorithm calculations are performed. In addition to
the main loop processing, interrupts are enabled to handle such actions as Limit input processing for Hall
mode, A/D processing for all system voltages and currents, and serial communication if used.
If at anytime during operation a fault occurs, the drive will immediately disable the motor
windings, set the Fault output active and display the fault code on the LED display. A message will also
be sent over the serial interface annunciating the fault. The “A” command can also be used to obtain fault
information. The "f" command sets the active level for the fault output (as of version 2.4.0).
Note that bias power (+/-15V) is always required for the drive to operate. Bus power is only
required if a motor is to be used. This allows the drive to be set up away from the actual system using
only the bias supply.
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LA Series Linear Servo Amplifier Technical Reference Manual
6 LA-210 Jumper Settings
JP1
A
JP2
B
C
D
E
F G H
A
B
C
D
E
F
JP3
Figure 1. Jumper Locations
A
B
JP2
JP1
Overcurrent Trip Level
Trip Current
JP1-A
1.0 Amps
Open
1.5 Amps
In
2.0 Amps
Open
2.5 Amps
In
JP1-B
Open
Open
In
In
Overcurrent Trip Time
Trip Time
JP1-C
1.25 Sec
Open
2.5 Sec
In
5 Sec
Open
10 Sec
In
JP1-D
Open
Open
In
In
Absolute Overcurrent Trip Level
Trip Current
JP1-E JP1-F
6.0 Amps
Open
Open
8.0 Amps
In
Open
10.0 Amps
Open
In
12.0 Amps
In
In
JP1-G, Not Used. See Note
Motor Reverse Selection (Hall Mode)
Mode
JP1-H
Normal
Open
Reverse
In
See factory supplied configuration sheet
for “as delivered” amplifier values.
Sine/Hall Mode Selection*
Mode
JP2-A
Sine Mode
Open
Hall Mode
In
*See Note 3
Input Filter Setting
Filter
JP2-B
500 Hz
Open
2500 Hz
In
10 kHz
Open
20 kHz
In
JP2-C
Open
Open
In
In
Transconductance Ratio Setting
Ratio
JP2-D JP2-E
0.25
Open
Open
0.50
In
Open
0.75
Open
In
1.00
In
In
Input DAC Selection
DAC Input
Differential (Bipolar)
Single Ended (Unipolar)
JP2-F
Open
In
JP3
Current Loop Bandwidth Setting
Bandwidth
JP3-A JP3-B
Contact
Open
Open
Factory
In
Open
For
Open
In
Settings
In
In
Note1: Jumper settings are only updated following a reset or POR of the drive.
Note2: If no jumpers are installed on JP1, JP2 and JP3, the parameters will be set via software.
Note 3: If using jumpers in Sine Mode with minimum settings (no jumpers), install a jumper on JP1G to force the drive to use the jumper settings. This prevents the drive from using software settings
as described in Note 2.
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LA Series Linear Servo Amplifier Technical Reference Manual
7 LA-415 Jumper Settings
JP1
A
JP2
B
C
D
E
F G H
A
B
C
D
E
F
JP3
Figure 2. Jumper Locations
A
B
JP1
JP2
Overcurrent Trip Level
Trip Current
JP1-A
2.0 Amps
Open
3.0 Amps
In
4.0 Amps
Open
5.0 Amps
In
JP1-B
Open
Open
In
In
Sine/Hall Mode Selection*
Mode
JP2-A
Sine Mode
Open
Hall Mode
In
*See Note 3
Overcurrent Trip Time
Trip Time
JP1-C
1.25 Sec
Open
2.5 Sec
In
5 Sec
Open
10 Sec
In
JP1-D
Open
Open
In
In
Input Filter Setting
Filter
JP2-B
500 Hz
Open
800 Hz
In
15 kHz
Open
32 kHz
In
JP2-C
Open
Open
In
In
Absolute Overcurrent Trip Level
Trip Current
JP1-E JP1-F
12.0 Amps
Open
Open
15.0 Amps
In
Open
18.0 Amps
Open
In
20.0 Amps
In
In
Transconductance Ratio Setting
Ratio
JP2-D JP2-E
0.8
Open
Open
1.0
In
Open
1.2
Open
In
1.5
In
In
JP1-G, Not Used. See Note
Input DAC Selection
DAC Input
Differential (Bipolar)
Single Ended (Unipolar)
Motor Reverse Selection (Hall Mode)
Mode
JP1-H
Normal
Open
Reverse
In
See factory supplied configuration sheet
for “as delivered” amplifier values.
JP2-F
Open
In
JP3
Current Loop Bandwidth Setting
Bandwidth
JP3-A JP3-B
Contact
Open
Open
Factory
In
Open
For
Open
In
Settings
In
In
Note1: Jumper settings are only updated following a reset or POR of the drive.
Note2: If no jumpers are installed on JP1, JP2 and JP3, the parameters will be set via software.
Note 3: If using jumpers in Sine Mode with minimum settings (no jumpers), install a jumper on JP1G to force the drive to use the jumper settings. This prevents the drive from using software settings
as described in Note 2.
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LA Series Linear Servo Amplifier Technical Reference Manual
8 LA-525 Jumper Settings
JP1
A
JP2
B
C
D
E
F G H
A
B
C
D
E
F
JP3
Figure 3. Jumper Locations
JP1
Overcurrent Trip Level
Trip Current
JP1-A
4.0 Amps
Open
6.0 Amps
In
8.0 Amps
Open
10.0 Amps
In
Overcurrent Trip Time
Trip Time
JP1-C
1.25 Sec
Open
2.50 Sec
In
5.00 Sec
Open
10.0 Sec
In
A
B
JP2
JP1-B
Open
Open
In
In
JP1-D
Open
Open
In
In
Absolute Overcurrent Trip Level
Trip Current
JP1-E JP1-F
15.0 Amps
Open
Open
20.0 Amps
In
Open
25.0 Amps
Open
In
30.0 Amps
In
In
JP1-G, Not Used. See Note 3
Motor Reverse Selection (Hall Mode)
Mode
JP1-H
Normal
Open
Reverse
In
See factory supplied configuration sheet
for “as delivered” amplifier values.
Sine/Hall Mode Selection*
Mode
JP2-A
Sine Mode
Open
Hall Mode
In
*See Note 3
Input Filter Setting
Filter
JP2-B
500 Hz
Open
800 Hz In
Open
15,000 Hz
Open
32,000 Hz
In
JP2-C
Open
In
In
Transconductance Ratio Setting
Ratio
JP2-D JP2-E
1.0
Open
Open
1.5
In
Open
2.0
Open
In
2.5
In
In
Input DAC Selection
DAC Input
Differential (Bipolar)
Single Ended (Unipolar)
JP2-F
Open
In
JP3
Current Loop Bandwidth Setting
Bandwidth
JP3-A JP3-B
Contact
Open
Open
Factory
In
Open
For
Open
In
Settings
In
In
Note1: Jumper settings are only updated following a reset or POR of the drive.
Note2: If no jumpers are installed on JP1, JP2 and JP3, the parameters will be set via software.
Note 3: If using jumpers in Sine Mode with minimum settings (no jumpers), install a jumper on JP1-G to
force the drive to use the jumper settings. This prevents the drive from using software settings as
described in Note 2.
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LA Series Linear Servo Amplifier Technical Reference Manual
8.1 Jumper Description
JP1-A, B – Continuous Overcurrent Level – This setting determines the continuous level of current allowed
by the amplifier. Any phase current value above this setting causes an internal timer to run. If the timer
reaches the set value for Overcurrent Trip Time, the drive disables and the error is reported. The decimal
point on the LED display is lit when any phase current is above the Overcurrent setting. The Overcurrent
Timer accumulates time for any value of phase current that exceeds the Overcurrent threshold value (as
opposed to a “true” RMS value). The Overcurrent Timer is decremented for any phase current value less
than the Overcurrent threshold value. The decay rate of the timer is 2x the attack rate. This means that if
the timer has accumulated for 2 seconds, it takes 1 second for the timer to return back to 0.
JP1-C, D – Continuous Overcurrent Trip Time – This setting establishes the time that any phase current is
allowed to be above the Overcurrent setting. When the Overcurrent time is exceeded, the drive disables
and the Overcurrent error is reported (“L” on the display). The timer decays at a rate of 2x the attack rate.
JP1-E, F – Absolute Overcurrent – This setting establishes the maximum allowable current. If the current
exceeds the set value, the drive disables and the error is reported (“5”on the display). The amplifier is
designed to trip within 50mS of detecting the event.
JP1- G – Not used. Install this jumper if the desired amplifier setup requires no other jumpers. This will
prevent the software from using the stored NVM settings.
JP1-H – Motor Reverse – When this jumper is installed, the motor rotation in Hall mode is reversed for a
given input signal.
JP2- A – This jumper establishes the mode of operation for commutation, either Sine or Hall. In Sine
mode, the user must provide 2 analog input signals 120° out of phase, representing motor currents for
Phase A and Phase B. The amplifier internally derives the current for Phase C based on these inputs. In
Hall mode, the user provides a current reference command on Phase A input only. External Hall sensors
must be connected for motor commutation. The amplifier drives current to two of the three phases
depending on the Hall sequence input on the J3 Motor Feedback connector.
JP2- B, C – These jumpers establish the Input Filter setting. The cutoff frequency for low pass filtering of
the analog input command signals is set according to the values shown above.
JP2-D, E – Transconductance Ratio – These jumpers determine the amount of output current, in amps, for
a given input voltage, in volts, on the reference input(s) Command A and Command B. (Volts to amps
ratio).
JP2 – F – Input DAC Selection – This setting establishes the voltage configuration for the Command A and
Command B input signal reference. In Single Ended mode, the Command+ inputs accept a +/-10vdc input
with respect to ground (common). In Differential mode, the Command +/-inputs accept a +/-20vdc signal
terminal-to-terminal, non-grounded.
JP3 – A,B - Current Loop Bandwidth – This setting establishes the current loop bandwidth setting. Use
caution when changing from one setting to the next. The user does not normally set these jumpers. Please
contact the factory for details before changing these settings.
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LA Series Linear Servo Amplifier Technical Reference Manual
9 Connector Configurations
9.1 J1 Signal Connector
Pin
1
2
3
4
5
Function
DAC Phase A+ Input Used in both Single Ended and Differential modes.
DAC Phase A- Input Used only in Differential mode.
DAC Phase B+ Input Used in both Single Ended and Differential modes. Not used in Hall Mode.
DAC Phase B- Input Used only in Differential mode. Not used in Hall Mode.
I Out – Output voltage representing 1V=10A (LA-200/LA-407) or 1V=3.3A (LA-525) Output Current.
6
7
8
9
10
11
12
13
14
15
16
Common (Ground)
Limit+ - Active high input, Internally pulled high (3.3V), set low to enable travel. Not used in Sine Mode.
Common (Ground)
Limit – - Active high input, Internally pulled high (3.3V), set low to enable travel. Not used in Sine Mode.
Common (Ground)
Enable –Internally pulled high (3.3V). Use "e" command to set active level. Default is low to enable.
Common (Ground)
Fault – Internally pulled high (5V). Use "f" command to set active level. Default fault condition is high.
Common (Ground)
Reset – Ground input to reset drive. Internally pulled high (3.3V)
Common (Ground)
See note in Test Points section.
Note: Inputs with 3.3V pull ups are 5V input compatible
9.2 J2 Bias Power Connector
Pin
1
2
3
4
Function
+15 Volts DC in
Common (Ground)
Common (Ground)
–15 Volts DC in
9.3 J3 Motor Feedback Connector
Pin
1
2
3
4
5
6
7
8
9
10
Function
No Connect
No Connect
Common (Ground)
Hall C Input
Hall A Input
Hall B Input
+5 Volts DC Output (100mA max)
No Connect
Common (Ground)
No Connect
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LA Series Linear Servo Amplifier Technical Reference Manual
9.4 J4 Bus Power Connector
Pin
1
2
3
Function
+Bus Power
Bus Common (Ground)
–Bus Power
See Figures 4 & 5.
9.5 J5 Motor Phase Connector
Pin
1
2
3
4
Function
Phase A Output
Phase B Output
See Figures 4 & 5.
Phase C Output
Motor Ground (for cable shield and/or FG connection if used)
(J5 pin 4 is internally connected to amplifier common or ground)
9.6 J6 Interface P-Board Connector
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Function
N/C
N/C
Common (Ground)
Common (Ground)
N/C
Command A
Command B
N/C
+3.3Vdc
Command Select 2
Command Select 1
Common (Ground)
1
9.7 J7 Interface P-Board Connector
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Function
N/C
N/C
N/C
N/C
N/C
N/C
N/C
+5Vdc
Common (Ground)
–15Vdc
Common (Ground)
+15Vdc
1
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LA Series Linear Servo Amplifier Technical Reference Manual
9.8 J8 Status Output Connector
Pin
1
2
3
4
5
6
7
8
9
10
Function
7 Segment display – A
7 Segment display – B
7 Segment display – C
7 Segment display – D
7 Segment display – E
7 Segment display – F
7 Segment display – G
7 Segment display – DP
+5 Volts DC
Common (Ground)
9.9 J9 Motor Temperature Switch Connector
Pin
1
2
9.10
Function
Motor Temperature switch +. Normally Closed to enable amplifier.
Internally pulled up to 5vdc. Jumper J9 pins 1-2 if input is not used.
Motor Temperature switch common. (Internally connected to Common)
J10 Serial Communication Connector
Pin
1
2
3
4
Function
Receive (RxD)
Transmit (TxD)
Common (Ground)
Do Not Connect
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LA Series Linear Servo Amplifier Technical Reference Manual
9.11
Connector Part Numbers
Connector
J1
J2
J3
J4
J5
J6
J7
J8
J9
J10
Manufacturer
3M
Phoenix
3M
Thomas & Betts
Thomas & Betts
Molex
Molex
3M
Molex
Molex
P/N
3408-1302
17-59-03-3
3793-1302
4PCR-03-008
4PCR-04-008
90147-1212
90147-1212
30310-6002HB
22-05-3021
22-05-3041
Mate P/N
3452-7600
17-57-035
3473-7600
N/A
N/A
Contact Factory
Contact Factory
3473-7600
*22-01-3027
22-01-3047
Digi-Key #
MSD16K-ND
277-1013-ND
MSD10K-ND
MSD10K-ND
WM2000-ND
WM2002-ND
*Note: J9 can be shorted with a standard 0.100” jumper if motor temp switch not used.
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LA Series Linear Servo Amplifier Technical Reference Manual
10 User Interfaces
10.1
Push Button
The push button is used for both the Reset and Autobalance functions. The DSP measures the amount
of time the button is active (pressed). If the button is active for less than 1 second, the drive is reset upon
release of the button. If the button is active for more than 1 second, the drive enters Autobalance mode.
The switch is debounced to prevent multiple entries into the Autobalance routines if the switch is held
down for longer than 1 second.
Pushbutton
> 1 Second = Autobalance
< 1 Second = Drive Reset
The push button can also be used during a power-on-reset to display the full part number of the software.
To use this feature, hold the push button in while applying bias power. The display will begin flashing the
full part number. Release the button before the part number display completes. See the section on
Software Version Display below.
10.2
LED Display
The LED Display indicates the status of the drive. Following a reset or POR, the LED will flash all
segments as a check to make sure they are working. The software version and revision are shown next.
The display will blank briefly (1/2 sec.) and the drive status or a system fault will be indicated. The drive is
fully functioning when the status is shown (“C” or “0”). When a fault is shown, the drive is disabled and
cannot be enabled until the fault is cleared. For most faults, a reset or AR 1 command is needed to reset
the fault. A Bus Undervoltage (U) fault will be automatically cleared when the bus is at the proper operating
voltage. A Fatal Error (F) can only be cleared by a power on reset of the amplifier.
10.3
Software Version Display
The software version is shown only following a power-on-reset (not after a pushbutton reset). The version
information is presented as follows:
Example: Display shows 2.1.0-4
“2” = Upper level part number designator
“1” = Major Software Version
“0” = Minor Software Version
“4” = Number of current loop bandwidth settings
The full part number of the software can be displayed during power-on-reset by holding in the push button
and applying bias power. The part number will be displayed in the following format:
Example: 4002-12.2.0-2
“4002”= Varedan Technologies product code
“12” = Upper level part number designator
(“10”=LA-400, “11”=LA-525,“12”=LA4-07,13”=LA-200 )
“2” = Major Software Version
“0” = Minor Software Version
“2” = Number of current loop bandwidth settings
.
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LA Series Linear Servo Amplifier Technical Reference Manual
10.4
L.E.D. Error Codes and Meaning
The following table lists the L.E.D. error codes and their meaning. If multiple errors are present, the
display will cycle through all the error codes, displaying each for ½ second.
Amp ok, motor current enabled. This is the “normal” display when enabled.
DSP Fault – Set when the internal DSP checksum fails following reset
NVM Fault – Set when NVM checksum fails following reset. Parameter
defaults are set.
Hall Supply +5vdc – Set when on board +5v supply for Halls is out of range
Autobalance Fault – Set when autobalance can’t balance amplifier outputs.
ABS Overcurrent – Set when instantaneous overcurrent condition is detected
SOA – Set when Safe Operating Area protection detects an over power
condition.
5 VDC Reference error – Set when internal +5 reference supply is out of range
Bus Over Voltage – Set when Bus voltage is greater than +/-75 Vdc.
(Note: Each leg (+ and -) is checked against this value.)
`
Amp ok, not enabled (Output is Clamped off). This is the normal display when
the amplifier is not enabled.
2.5 Vdc Reference error – Set when internal 2.5vdc supply is out of range.
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LA Series Linear Servo Amplifier Technical Reference Manual
Hall Error – Set when hall sequence is invalid (hall inputs are all 1’s or all 0’s)
Fatal Error – Set if the DSP encounters an unidentified problem.
Amplifier Over Temp – Set when the heat sink temperature is above 70 C.
Motor Over Temp – Set when motor temperature input is open
Overcurrent – Set when amplifier detects an overcurrent condition
(“L”ow speed circuit breaker)
Bus Under Voltage – Set when the Bus voltage is less than +/-10 Vdc.
(Note: Each leg (+ and -) is checked against this value.)
Bias error – Set when Bias voltage input +/-15 is outside allowable range.
Note: The tolerance of this supply must be within +1.00vdc and –0.50vdc on
each side of the input (+14.50 to 16vdc and –14.50 to –16vdc)
(Decimal point on) Indicates an Overcurrent trip pending
Upper bar (segment a) indicates +Limit is active (Only valid in Hall mode).
Lower bar (segment d) indicates –Limit is active (Only valid in Hall mode).
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LA Series Linear Servo Amplifier Technical Reference Manual
10.5
Status indicator/Remote Display Port
Connector J8 can be used to monitor system status via a parallel bus or remote display. The data written
to this port is the same data used to drive the 7-segment display. An “on” segment results in the
corresponding J8 pin to be at +5 volts. The bits are defined as follows:
J8 Pin
1
2
3
4
5
6
7
8
9
10
10.6
LED segment
a
b
c
d
e
f
g
dp
+5 vdc External (100mA Maximum)
Gnd
Serial Port
J10 is the RS232 communication port. A built in operating system in the DSP allows setting and viewing of
all parameters and switch settings via a dumb terminal interface such as Windows Hyper Terminal. An on
board NVM chip stores the serial parameter settings for recall on next power up of following a reset.
The communication settings are 19.2 Kbaud, 8 data, 1 stop, no parity, no handshake. The pin out for the
cable to connect to a standard PC serial port as a DTE device is as follows.
J10 Pin
1
2
3
4
DB9-F Pin
3 Rxd
2 Txd
5 Common (Ground)
No Connect (Ground only for programming cable)
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LA Series Linear Servo Amplifier Technical Reference Manual
10.6.1 Serial Commands
The following commands are supported over the serial port communications interface.
A – Alarm Reset
This command allows viewing or resetting the alarm status. “A” with no parameter is used to read the
alarm status. “A 1” is used to reset the alarm status. Note: When an alarm is detected by the system, the
drive is immediately disabled.
B – AutoBalance
This command is used to invoke the autobalance algorithm. During autobalance the display will indicate
“-“ (middle bar).
E – Enable Status
This command is used to set/view the enable state of the drive. Note: When an alarm is detected by the
system, the drive is immediately disabled.
There are two modes of Enable operation, Software and Hardware. In Hardware mode, the drive enable
is controlled by the hardware Enable input on J1.See the "e" command for setting the active level. The E
command only allows viewing the enable state when in “hardware” enable mode.
Software enable mode is configured following a reset and BEFORE the hardware input is used. The drive
will come up disabled and the E command can be used to enable (E1) or disable (E0) the drive. If at any
time during software mode operation, the hardware input goes active, the drive reverts to hardware mode
as described above.
e - Set Active Enable Level
This command sets or views the active level for the hardware enable input. Entering e 0 sets the level to
active low. Entering e 1 sets the level to active high. Entering e without any value returns the present
setting. The factory default level is 0 (active low) to enable. This command is valid as of software version
2.4.0
F – Factory Defaults
This command is used to set all the parameters to the factory defaults. Use the “S” command to save
the settings to NVM following the F command. By not automatically saving the defaults, the user can
choose to go back to the original settings (that were in the drive before the F command was used) by
resetting the drive.
f - Set Active Fault Output Level
This command sets or views the active level for the Fault output. Entering f 0 sets the active Fault output
to low for a fault condition. Entering f 1 sets the active Fault output high for a fault condition. Entering f
without any value returns the present setting. The factory default level is 1 (active high) for a fault
condition. This command is valid as of software version 2.4.0
H – Help
This command lists a summary of commands and their function.
L – List all parameters
This command lists all the user settable parameters and system readings to the display. The enable and
alarm status are also shown.
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LA Series Linear Servo Amplifier Technical Reference Manual
M – Mode
This command is used to view or set the commutation mode of the drive. M0 sets trapezoidal
commutation, M1 sets Sinusoidal 2 phase input commutation. The “M command can only be used to view
the commutation setting if jumpers are installed.
R – Reset
This command causes the drive to perform a power on reset.
S – Save Parameters
This command saves the user selectable parameters to NVM.
Y – Display Fault History
The last 8 errors from the fault history buffer are displayed. If a fault occurs while the drive is enabled, the
fault is saved into the fault history buffer. The last 8 errors are saved in NVM and recalled for display when
this command is issued. Only errors that occur while the drive is enabled are stored. This prevents
nuisance errors that commonly occur during startup/shutdown to be ignored.
YC – Clear Fault History
This command clears the fault history buffer in NVM. This command is useful after setting up a new
system in production to be sure any setup errors are cleared.
YS – Display SOA Fault History
This command displays the last saved SOA trip information from NVM. In the event of an SOA trip, all the
system parameters related to the trip are stored. This information is useful to the factory for
troubleshooting SOA events.
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LA Series Linear Servo Amplifier Technical Reference Manual
10.6.2 Serial Parameter Settings
The user parameter settings are configured either by jumpers or via the serial interface. When jumpers
are used, the serial interface can only be used to read the jumper settings. If no jumpers are installed, the
software settings are used. If the configuration when using jumpers results in no jumpers being installed
(Sine Mode with all minimum values), place a jumper on JP1-G. This will force the drive to read and use
the jumper settings. The use of this jumper in Sine mode will not affect operation.
When no jumpers are installed, the settings are controlled from software using P values as shown below.
To use the serial interface to configure the settings, remove all jumpers and use the values as described
below for the Pn locations. Note that if any jumper is installed, all jumper settings will be read and used for
setting the parameters.
P – Parameter Command
This command is used to view or set the user parameters and RAM locations in the drive. The following
list shows software variables and their corresponding “P” access number. Be VERY careful when changing
these values, as the software does not provide for protection from improper settings. Adverse settings may
cause “undesirable” effects on the system.
The values for P0-P6 reflect the jumper settings as described above when jumpers are installed and
cannot be changed from the serial interface. When no jumpers are installed, these values can be modified
using the serial interface by changing the appropriate Pn value to configure the drive as if jumpers were
present.
P0
P1
P2
P3
P4
P5
P6
P7
Transconductance setting
Absolute Overcurrent Trip setting
Overcurrent Trip setting
Overcurrent Trip Time setting
Input Filter setting
Sine/ Hall mode setting
Current Loop Bandwidth setting
Motor Reverse setting
Note: P8-P255 are system values that should not be changed by the user.
To set a parameter value, type P followed by the address (0-6) followed by a space followed by the value
followed by <Enter> (Cr Lf). Refer to the next page for the P values and their settings.
Example: Set P1 Absolute Overcurrent Trip to 15.0 Amps.
Type: P1 1<Enter>
Drive response: 1
To view a parameter setting, type P followed by the address (0-6) followed by Enter.
Example: View the Overcurrent Trip setting:
Type: P2 <Enter>
Drive response: 1 (or whatever the present value is)
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LA Series Linear Servo Amplifier Technical Reference Manual
10.6.2.1
Software Parameter Setting Table Summary
P0 – Transconductance switch value
P0 Value
Transconductance Ratio
0
0.8
1
1.0
2
1.2
3
1.5
4
0.8
5
1.0
6
1.2
7
1.5
DAC Single End/Differential
Differential (Bipolar)
Differential (Bipolar)
Differential (Bipolar)
Differential (Bipolar)
Single Ended (Unipolar)
Single Ended (Unipolar)
Single Ended (Unipolar)
Single Ended (Unipolar
P1 – Absolute Overcurrent Level
P1 Value
LA200/LA400 Trip Level
0
12 Amps
1
15Amps
2
18Amps
3
20Amps
LA525 Trip Level
15 Amps
20 Amps
25 Amps
30 Amps
P2 – Overcurrent Trip Level
P2 Value
LA200/LA400 Trip Level
0
2.0 Amps
1
3.0 Amps
2
4.0 Amps
3
5.0 Amps
LA525 Trip Level
4 Amps
6 Amps
8 Amps
10 Amps
P3 – Overcurrent Trip Time
P3 Value
Trip Time
0
1.25 Sec
1
2.5 Sec
2
5.0 Sec
3
10.0 Sec
P4 – Input Filter Setting
P4 Value
LA200/LA400 Input Filter Setting
0
500 Hz
1
800 Hz
2
15 kHz
3
32 kHz
LA525 Input Filter Setting
500 Hz
2,500 Hz
10,000 Hz
20,000 Hz
P5 – Sine Hall Mode Setting
P5 Value
Sine Hall Setting
0
Sine
1
Hall
P6 – Open Loop Gain Setting (fixed configuration in some versions)
P6 Value
Current Loop Bandwidth
0
Contact
1
Factory
2
For
3
Settings
P7 – Motor Reverse Setting
Value Motor Reverse Setting
0
Normal Direction for Halls
1 Reverse direction
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LA Series Linear Servo Amplifier Technical Reference Manual
11 Balancing
Motor phase balancing is performed to minimize torque ripple in the motor caused by impedance
variations in the motor windings and to compensate for component tolerance variations in the amplifier
drive circuits. The intent of this adjustment is to get the three motor voltages approximately equal taking
into account polarity. Once the drive is balanced, the setting should not need to be changed as long as the
drive operates with the same motor and at the same baseplate temperature as when the balance was
performed
NOTE: Be sure the amplifier is at operating temperature when performing any balancing procedures. To
achieve operating temperature, enable the amplifier with the motor load connected and monitor the
baseplate temperature, either at TP2 (10°C/Volt) or using the “L” serial command.
There are two methods that can be used to balance the output phases, Autobalance and Manual
Balance. For most cases, the Autobalance feature will balance the phases to an acceptable level. For
other cases where the motor resistance may be very high, or exact phase balance must be obtained, the
manual method should be used after the Autobalance to further “tweak” the offsets.
11.1
Autobalance
The drive has the ability to autobalance the phase offsets using an internal algorithm. The algorithm is
initiated by holding the push button for longer than 1 second. The “B” command can also be used from the
serial interface. Once started, the algorithm will display a “-“ middle bar on the LED display. Depending on
the amount of offset, the phase voltage and the load resistance, the amount of time spent in the
Autobalance routine varies from about 5 seconds to about 30 seconds.
If the drive is unable to balance the phases, the routine exits and reports and Autobalance Fault
(4) on the LED display.
Note: Be sure the motion controller is set to output 0vdc to the command input(s) and the motion controller
is set for open loop mode (no feedback loop). This is very important, as the motor will not be able to move
during this procedure.
The procedure for using the Autobalance feature:
1) Connect the motor in the normal manner.
2) Apply power to the system (Bias and Bus).
3) Set the motion controller to open loop mode (no feedback loop)
4) Set the motor so no motion is possible (lock down the stage).
5) Set the command input(s) to 0 volts and Enable the amplifier.
6) Press the Reset button S1 and hold for greater than 1 second. Confirm the middle bar on the LED
display is showing. Release the button.
7) Once the procedure completes, the display will either show Enabled (0) or Autobalance Fault (4). If
the drive is Enabled, the process has completed successfully. If a fault is shown, the phases will
have to be balanced manually.
Note: The Autobalance function is typically able to balance a load with a resistance that falls within the
range of 1 ohm to 10 ohms. The Autobalance function may not consistently balance loads outside this
range. This does not indicate a problem with the amplifier. It means the load may need to be manually
balanced. This is especially true if the manual balance pots have been moved from their factory center
position. Once the load has been manually balanced and the pots re-centered, the Autobalance function
will most likely work.
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LA Series Linear Servo Amplifier Technical Reference Manual
11.2
Manual Balance
The procedure to manually balance the phases is shown below. A voltmeter is required to measure the
phase voltages. Refer to Figure 2 on the next page for the location of the balance pots.
The procedure to manually balance the phases:
1) With power off, connect the Phase A motor lead to J5-1. Connect Phase B motor lead to J5-4
(Common). Leave Phase C motor lead disconnected.
2) Apply power to the system.
3) Set the motor so no motion is possible (lock down or tape stage).
4) Set the command input to 0 volts and Enable the amplifier.
5) With a multi-meter set on the 2 VDC range, measure across the load (J5-1 to J5-4). Adjust
potentiometer RV6, BAL A, until the meter reads 0.00 VDC.
6) Move the Phase A lead to J5-2 (Phase B). This puts the load from Phase B to common.
7) With a multi-meter set on the 2 VDC range, measure across the load (J5-2 to J5-4). Adjust
potentiometer RV5, BAL B, until the meter reads 0.00 VDC.
8) Reconnect the motor leads normally: Phase A motor lead to J5-1, Phase B motor lead to J5-2,
Phase C motor lead to J5-3.
9) With a multi-meter set on the 2 VDC range, measure across Phase C to common (J5-3 to J5-4).
Adjust potentiometer RV5, BAL C, until the meter reads 0.00 VDC.
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LA Series Linear Servo Amplifier Technical Reference Manual
12 Test Points
Five user test points are provided on the amplifier, TP1-TP5. They are located at the top of the
amplifier, between JP2 and the Pushbutton switch.
TP1 – I Out – This test point provides an analog voltage proportional to the current output of the amplifier.
The scaling for this output is either 10 amps per volt (LA-200 and LA-407) or 3.3 amps per volt (LA-525).
Note that this value is the absolute value of instantaneous current from the phase with the highest
magnitude of current. This is the same signal that is output on J1 pin 5.
TP2 – Heatsink Temperature – This test point provides an analog voltage proportional to the heatsink
temperature, measured in the middle of the heatsink. This output is scaled at 10°C per volt.
TP3 – Common – This test point provides convenient access to amplifier common (ground).
TP4 – Command Phase A – This test point is connected to user Command Phase A voltage. The voltage
at this pin is scaled to ¼ of the Command Phase A input voltage.
TP5 - Command Phase B– This test point is connected to user Command Phase B voltage. The voltage at
this pin is scaled to ¼ of the Command Phase B input voltage.
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 4 – Location of Jumpers, Balance Potentiometers and Test Points
J10 Serial
Connector
Jumpers
Test Points
Reset &
Autobalance
J1 Main
Signal
Connector
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 5. Functional Block Diagram – All Models
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LA Series Linear Servo Amplifier Technical Reference Manual
Balance Pots
Test Points
JP3
Common
4
JP2
Motor C
3
JP1
Motor B
2
J10
Motor A
1
4
3
2
1
Bus –
3
7-Segment
Display
Common
2
J8
Bus +
1
Figure 6. Installation Drawing Details
S1 Reset &
Autobalance
1
J1 Signal
1
J3 Halls
2
1
J9 Motor Temp.
J2 Bias Power
1
+15VDC
2
Common
3
Common
4
-15VDC
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 7. Typical Connections Single-Phase Models with “S” suffix
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 8. Typical Connections Three-Phase Models with “T” suffix
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 9. LA-210 Mechanical Dimensions
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 10. LA-415 Mechanical Dimensions
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LA Series Linear Servo Amplifier Technical Reference Manual
Figure 11. LA-525 Mechanical Dimensions
0.200 DIA. x 0.400 DEEP
(4 PLACES)
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LA Series Linear Servo Amplifier Technical Reference Manual
13 Appendix A. Serial Communication Messages
This section describes the details of the serial communication messages. The only white space
character used in this protocol is the Space (ASCII 0x20). All lines are terminated with a Carriage
Return and Line Feed (cr/lf) followed by a “>” prompt (ASCII 0x3E). The prompt is sent following
any message by the amplifier. The prompt line has no termination in order to allow a dumb
terminal cursor to remain on the prompt line. This provides a clear indication for the user when
the amplifier is ready for a new command when using a dump terminal interface.
Some common characters used in this section are:
cr = Carriage Return, ASCII 0x0D
lf = Line Feed, ASCII 0x0A
> = Greater Sign (used as the prompt), ASCII 0x3E
When the amplifier is first powered up, the user must wait until the sign on message and the
prompt are sent before normal communication can begin. The sending of the first prompt from
the amplifier means it is ready for operation. If a fault alarm is present on power up, the fault
message will be shown followed by a prompt.
All command sent to the unit must be in upper-case characters. Messages that the amplifier
sends for a particular command or condition are a fixed length. Messages are padded with the
space (ASCII 0x20) to achieve the desired length. As an example, all alarm messages are 14
characters in length.
All messages from the amplifier are shown in quotes to allow the programmer to determine the
character count for each message. The quotes are not part of the message. Any blank lines sent
by the amplifier are shown by the cr/lf sequence in the text shown below.
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LA Series Linear Servo Amplifier Technical Reference Manual
13.1
Sign on Message
Upon power up or following a reset, the amplifier sends the following message.
“Varedan Technologies, (c) 2007
“>”
Ver 4002-11-2.3.0-2”
In addition, if any faults are present, the fault status is show following the above message.
“Alarm = BUS UV”
“>”
13.2
Alarm Messages
Sent in response to “A” command or upon detection of alarm condition. 16 possible responses,
14 characters in length.
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
"Alarm
“>”
13.3
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
DSP
"
NVM
"
HALLS "
AMP OT"
MOT OT"
ABS OC"
RMS OC"
BUS OV"
BUS UV"
5V REF"
15VREF"
2.5REF"
5V EXT"
AUTOBL"
SOA
"
FATAL "
Autobalance Messages
In response to the “B” command:
If Autobalance can’t run:
“Drive Must Be Enabled to use this command”
“>”
While Autobalance is active:
“-“
(Prompt is sent upon completion of Autobalance)
“>”
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LA Series Linear Servo Amplifier Technical Reference Manual
13.4
Enable Status Messages
In response to the “E” command:
If disabled with alarm:
“DISABLED”
cr/lf
“Alarm = BUS UV”
“>”
If disabled without alarm:
“DISABLED”
“>”
If enabled:
“ENABLED”
“>”
13.5
Factory Default Message
In response to the “F” command:
"Loading Default Parameters"
“>”
13.6
Help Messages
In response to the “H” command:
“Command List”
“A<n> = Show/Reset Alarm Status”
“E<n>= Set/View Enable Status Enable=1 Disable=0”
“F = Load Factory Defaults”
“H = Help”
“L = List Parameters”
“M = View Mode”
“P Addr <data> = Set/View Parameter”
“R = Reset Drive”
“S = Save setting to NVM”
“T = SOA Trip Data”
“Y = Show Alarm History”
“YC = Clear Alarm History”
“YS = Show Saved SOA Fault Data”
cr/lf
“>”
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LA Series Linear Servo Amplifier Technical Reference Manual
13.7
List Messages
In response to the “L” command:
“Bus+= 0 V”
“Bus-=-0 V”
“Vpha= 0 V”
“Vphb= 0 V”
“Vphc= 0 V”
“Ipha= 0.0 A”
“Iphb= 0.0 A”
“Iphc= 0.0 A”
“+15 = 15.2 V”
“-15 =-15.2 V”
“+5 = 4.9 V”
“+5Ex= 4.9 V”
“+2.5= 2.50 V”
“-2.5=-2.50 V”
“Temp= 23 C”
cr/lf
“RMS Overcurrent,JP1-A,B (Amps): Off Off”
“RMS Trip Time, JP1-C,D (Sec): On Off ”
“Absolute Overcurrent, JP1-E,F (Amps): Off On ”
“Motor Direction Setting, JP1-H: Normal”
“Sine or Hall Mode, JP2-A: Sine”
“Input Filter Setting, JP2-B,C (kHz): On On ”
“Transconductance Ratio, JP2-D,E: Off Off”
“Input Differential or Single Ended, JP2-F : Diff”
cr/lf
“DISABLED”
cr/lf
“Alarm = BUS UV”
“>”
Note that this is an example message. The actual message data depends on the values and
status of the amplifier. If the amplifier is enabled, “ENABLED” is shown instead of “DISABLED”.
The alarm message follows the alarm message formats as described earlier.
13.8
Mode Command Messages
In response to the “M” command, the amplifier responds with the following, depending on the
jumper settings or the user setting for mode:
“Sine Current Mode”
“>”
“Trap Current Mode”
“>”
13.9
Save Parameters Message
In response to the “S” command:
“Saving Parameter”
“>”
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LA Series Linear Servo Amplifier Technical Reference Manual
13.10
Fault History Messages
In response to the “Y” command:
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“Alarm
cr/lf
“>”
History (Last to First)”
= BUS UV”
= 15VREF”
= 15VREF”
= BUS UV”
= 15VREF”
= ABS OC”
= BUS UV”
= BUS UV”
Note that this is just an example fault history. Actual results may vary, but all messages follow
the format for the Alarm messages described earlier. If no history is stored, the amplifier
responds with just a prompt.
13.11
Clear Fault History Message
In response to the “YC” command:
cr/lf
Alarm History Cleared
cr/lf
“>”
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LA Series Linear Servo Amplifier Technical Reference Manual
13.12
SOA Fault History Messages
In response to the “YS” command:
cr/lf
“Saved SOA History”
cr/lf
“Cnts= 0”
“MaxP= 0 W”
“ActP= 0 W”
“Bus+= 0.0 V”
“Bus-=-0.0 V”
“Vpha= 0.0 V”
“Vphb= 0.0 V”
“Vphc= 0.0 V”
“Ipha= 0.0 A”
“Iphb= 0.0 A”
“Iphc= 0.0 A”
“Temp= 0 C”
cr/lf
“>”
Note that this is an example message. Actual results will be displayed in the event of an actual
SOA trip.
43