Logosol AC/DC Intelligent Servo Drive with Step

Logosol AC/DC Intelligent Servo Drive with Step
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Features
‰ Motors supported:
- Brushless 60/120° commutated
- Brush motors
‰ Up to 20A peak / 12A continuous output
current
‰ Up to 200V single power supply
‰ STEP/DIRECTION interface
‰ 32-bit position, velocity, acceleration,
16-bit PID filter gain values
‰ Comprehensive motor output short-circuit
protection:
- Output to output
- Output to ground
- Output to power
‰ Adjustable motor current limit and
overload time limit
‰ Over/under voltage shutdown
‰ Overheating protection
‰ Emergency stop input
‰ Forward and reverse over travel inputs
‰ Communication speed 19.2 - 115.2 KBps
‰ Servo rate 2 kHz
‰ PWM frequency 20 kHz
‰ Command rate up to 1000/sec
‰ Differential or Single ended encoder with
transition rate up to 2.5MHz
Description
LS-182SE is a single-axis motion controller with
integrated servo amplifier designed for applications
using brushless (AC) or brush-commutated (DC)
motors, equipped with differential or single ended
encoder, up to 1 HP. Trapezoidal brushless motor
commutation is performed automatically if hall
sensors are connected to the unit.
Up to 31 intelligent servo drives can be controlled
over a multi-drop full duplex RS-485 network in a
distributed motion control environment. Standard
RJ-45 connectors and commercially available cables
are used for daisy chaining of the modules.
LS-182SE is equipped with various safety features
such as short circuit protection for the motor and
controller, over travel limit switch inputs, emergency
stop input, over and under voltage shutdown. The
maximum motor output current and overload time
can be set.
‰ Small footprint (5” x 4” x 0.85”)
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
TECHNICAL SPECIFICATIONS rated at 25oC ambient, POWER (+)=60VDC, Load=250μH motor
POWER SUPPLY VOLTAGE (POWER (+))
LS-182SE-1210
LS-182SE-1220
LS-182SE-2010
MAX MOTOR OUTPUT CURRENT
Peak (Ip)
LS-182SE-1210, LS-182SE-1220
LS-182SE-2010
Continuous (Ic)
LS-182SE-1210, LS-182SE-1220
LS-182SE-2010
MAX MOTOR OUTPUT VOLTAGE
18 to 90 V DC, 100V Absolute Maximum
18 to 200 V DC, 190V Absolute Maximum
18 to 90 V DC, 100V Absolute Maximum
12A
20A
8A
12A
Vout= 0.96(POWER (+)) – 0.17(Iout)
MIN LOAD INDUCTANCE
200μH
PWM SWITCHING FREQUENCY
19,512 KHz
SERVO RATE
0.512 msec
SERIAL BAUD RATE
OPEN COLLECTOR BRAKE OUTPUT
Max voltage applied to output
Max current load
OPTOISOLATED FAULT OUTPUT
Max voltage applied to output
Max current load
INPUTS
Encoder & Commutation
Digital Inputs:
Forward limit, Reverse limit, STP IN
Direction, Step, Servo Enable
ENCODER
19.2 – 115.2 Kbps
COMMUTATION
LED INDICATORS
ORANGE
GREEN
PROTECTION
Short circuit
Hall sensors 60/120
Over temperature shut off
FIRE-SAFETY
Internal fuse
LS-182SE-1210, LS-182SE-1220
LS-182SE-2010
POWER DISSIPATION (max)
LS-182SE-1210,2010
LS-182SE-1220
THERMAL REQUIREMENTS
Storage temperature range
Operating temperature range
MECHANICAL
Size
Weight
+5V SOURCE
Max current
MATING CONNECTORS
MOTOR AND POWER
ENCODER AND COMMUTATOR
STEP/DIR INTERFACE
CONTROL
NETWOR IN, NETWROK OUT
48V
0.3A
48V
3mA
TTL with 2K2 pull-up to 5V
LOmin=-0.5V, HImax=48V, Imax=5mA
Imax=10mA
Quadrature with index
o
Power is ‘OK” or Drive is not initialized
Motor Driver is ‘ON’ or Drive is not initialized
Motor output to motor output
Motor output to POWER GND
Motor output to POWER (+)
o
Activated at 80 C
10A Quick blow
15A Quick blow
30W
45W
o
–30 to +85 C
o
0 to 45 C
L=5.00”, H=4.00”, D=0.85”
0.66lb. (300gr.)
200mA for all three output pins combined
Magnum EM2565-06-VL or Phoenix MSTB 2.5/6-ST-5.08
Molex 22-01-3127 housing with 08-50-0114 pins (12 pcs.)
Molex 22-01-3087 housing with 08-50-0114 pins (8 pcs.)
Molex 22-01-3097 housing with 08-50-0114 pins (9 pcs.)
8 pin RJ-45 (2 pcs)
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
DIMENSIONAL DRAWING
LS-182SE
SERVO DRIVE LAYOUT
LS-182SE
ORDERING GUIDE
PART
NUMBER
912182048
912182049
912182050
230601007
MODEL
LS-182SE-1210
LS-182SE-2010
LS-182SE-1220
LS-182-CN
DESCRIPTION
AC/DC Intelligent Servo Drive 12A / 90V
AC/DC Intelligent Servo Drive with differential encoder; 6A / 180V
AC/DC Intelligent Servo Drive; 12A / 90V
Mating connector kit for LS-182
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
3
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
CONNECTORS AND PINOUT
LS-182SE
DIP SW – DIP SWITCH
SW
SIGNAL
1
Step/Dir
2
Diff Encoder
3
4
5
6
7
8
Reserved
Address 2
Address 1
Address 0
T-Input
T-Output
DESCRIPTION
OFF=Network mode (default)
ON=Step/Direction mode
ON=Differential encoder (default)
OFF=Single ended encoder
Reserved. Must be ON
Address select switch 2
Address select switch 1
Address select switch 0
Transmit line terminator
Receive line terminator
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
4
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
CN1 – POWER AND MOTOR CONNECTOR
PIN
SIGNAL
1
2
3
4
POWER (+)
POWER GND
POWER GND
AC3 or NC
5
AC2 or DC (-)
6
MOTOR AC1 or DC (+)
DESCRIPTION
Power supply, positive terminal
Power supply ground
Power supply ground
Output to motor
Phase 3 terminal for brushless motor
Not connected for brush motor
Output to motor
Phase 2 terminal for brushless motor
Negative terminal for brush motor
Output to motor
Phase 1 terminal for brushless motor
Positive terminal for brush motor
CN2 – CONTROL
PIN
1
2
3
4
5
6
7
8
9
SIGNAL
STP IN
GND
REVERSE LIMIT
FORWARD LIMIT
GND
PEAK CURRENT
+5V
OVERLOAD TIME
BRAKE OUT
CN3 – STEP/DIR INTERFACE
PIN
SIGNAL
1
2
3
4
5
6
7
8
STEP INPUT
DIRECTION INPUT
COM
+5V
FAULT COLLECTOR
FAULT EMITTER
GND
SERVO ENABLE
DESCRIPTION
Stop input (disables servo amplifier)
Signal ground
Reverse limit input
Forward limit input
Signal ground
Overcurrent limit
Signal power supply
Overcurrent limit timeout
Brake output. Open collector 48V/03A
DESCRIPTION
Step input
Direction input
STEP/DIR interface power supply (+)
Signal power supply
Fault output (+)
Fault output (-)
Signal ground
Servo enable input (active low)
Note: POWER GND and GND are electrically connected. Drive’s case is isolated from drive
circuitry and can be grounder externally.
200mA Max current for all +5V outputs combined.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
CN4 – ENCODER AND COMMUTATOR
PIN
SIGNAL
1
2
3
4
5
6
7
8
9
10
GND
ENC Z
ENC A
+5V
ENCODER B
+5V
S1
S2
S3
GND
11
R1
12
R2
DESCRIPTION
Encoder ground
Encoder index
Encoder phase (+)A
Encoder power supply
Encoder phase (+)B
Commutator power supply
Hall sensor #1
Hall sensor #2
Hall sensor #3
Commutator ground
‘Diff Encoder’=’off’ – Reserved
‘Diff Encoder’=’on’ – Encoder Phase (-)A
‘Diff Encoder’=’off’ – Reserved
‘Diff Encoder’=’on’ – Encoder Phase (-)B
CN5 – NETWORK OUT (SLAVE)
PIN
1
2
3
4
5
6
7
8
SIGNAL
N.C.
GND*
+TX
-TX
-RX
+RX
-A out
+A out
CN6 – NETWORK IN (HOST)
PIN
SIGNAL
1
2
3
4
5
6
7
8
+5V**
GND*
+TX
-TX
-RX
+RX
-A in
+A in
DESCRIPTION
Not connected
Interface ground
(+) Transmit data
(-) Transmit data
(-) Receive data
(+) Receive data
(-) Address output
(+) Address output
DESCRIPTION
RS-232 adapter power supply
Interface ground
(+) Transmit data
(-) Transmit data
(-) Receive data
(+) Receive data
(-) Address input
(+) Address input
Note: 200mA Max current for all +5V outputs combined.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
6
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
LS-182SE SAMPLE APPLICATION using AC (brushless) motor with differential encoder in
network command mode
SLAVE
HOST
NETWORK
OUTPUT
2
Note: Network mode (SW1=OFF)
Differential encoder mode (SW2=ON)
1
STEP/DIR INTERFACE
CONTROL
6
5
4
AC1
AC2
AC3
TRANSFORMER
ISOLATED
POWER SUPPLY
+
+5V
ENC B
ENC -A=R1
ENC -B=R2
ENC Z
ENC A
GND
(OPTIONAL)
9
STP IN
GND
REVERSE LIMIT
5
6
7
1
2
S3
GND
R1
R2
CN1
+5V
OVERLOAD TIME
BRAKE OUTPUT
9
10
11
12
S1
S2
3
4
6
7
8
+5V
GND
PEAK CURRENT
4
5
+5V
ENC B
1
MOTOR AND POWER
CN2
2
3
CN3
GND
ENC Z
ENC A
CN4
1
3
2
4
POWER (+) 18 - 90V
ENCODER AND COMMUTATOR
5
3
6
POWER GND
7
POWER GND
8
8
LS-182SE
FORWARD LIMIT
NETWORK
INPUT
S3
GND
S1
S2
+5V
BRAKE
24VDC
AC (BRUSHLESS) MOTOR
WITH QUADRATURE
INCREMENTAL ENCODER
~AC
LS-182SE SAMPLE APPLICATION using DC (brush) motor with single ended encoder in network
command mode
SLAVE
HOST
NETWORK
OUTPUT
STEP/DIR INTERFACE
CONTROL
CN3
(OPTIONAL)
+
3
2
1
POWER GND
POWER (+) 18 - 90V
4
CN1
POWER GND
GND
REVERSE LIMIT
FORWARD LIMIT
1
2
3
STP IN
GND
1
2
3
4
5
6
7
8
9
10
11
12
GND
ENC Z
ENC A
+5V
ENC B
MOTOR AND POWER
CN2
GND
ENC Z
ENC A
+5V
ENC B
+5V
CN4
4
5
ENCODER AND COMMUTATOR
Note: Network mode (SW1=OFF)
Single ended encoder mode (SW2=OFF)
6
1
5
2
DC (-)
3
DC (+)
4
8
9
5
6
7
6
PEAK CURRENT
+5V
7
OVERLOAD TIME
BRAKE OUTPUT
8
LS-182SE
GND
NETWORK
INPUT
TRANSFORMER
ISOLATED
POWER SUPPLY
-
BRAKE
24VDC
DC (BRUSH) MOTOR
WITH QUADRATURE
INCREMENTAL ENCODER
~AC
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
7
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
LS-182SE SAMPLE APPLICATION, using AC (brushless) motor in STEP/DIRECTION mode
Note: Step/Direction mode (SW1=ON)
Differential encoder mode (SW2=ON)
STEP/DIR INTERFACE
CONTROL
3
2
1
POWER GND
POWER (+) 18 - 90V
4
(OPTIONAL)
STP IN
GND
REVERSE LIMIT
CN1
TRANSFORMER
ISOLATED
POWER SUPPLY
+
+5V
ENC B
ENC -A=R1
ENC -B=R2
ENC Z
ENC A
GND
FAULT input
GND
GND
+5V
ANALOG
OUTPUT
(OPTIONAL)
0-+5V
GND
ENC Z
ENC A
+5V
ENC B
+5V
PLC
FORWARD LIMIT
GND
PEAK CURRENT
+5V
1
2
3
4
5
CN2
STEP INPUT 1
DIRECTION INPUT 2
COM 3
4
FAULT COLLECTOR 5
FAULT EMITER 6
7
SERVO ENABLE 8
1
2
3
4
5
6
7
8
9
GND 10
R1 11
R2 12
CN3
MOTOR AND POWER
POWER GND
CN4
6
ENCODER AND COMMUTATOR
5
1
2
DC(-)
3
4
DC(+)
5
6
7
8
9
6
7
OVERLOAD TIME
BRAKE OUTPUT
8
LS-182SE
BRAKE
-
24VDC
DC (BRUSH) MOTOR
WITH QUADRATURE
INCREMENTAL ENCODER
~AC
LS-182SE SAMPLE APPLICATION, using DC (brush) motor in STEP/DIRECTION mode
Note: Step/Direction mode (SW1=ON)
Differential encoder mode (SW2=ON)
STEP/DIR INTERFACE
GND
0-+5V
GND
2
1
POWER (+) 18 - 90V
4
5
6
FORWARD LIMIT
GND
PEAK CURRENT
+5V
POWER GND
1
2
3
STP IN
GND
REVERSE LIMIT
4
5
6
7
SERVO ENABLE 8
ANALOG
OUTPUT
(OPTIONAL)
CN1
TRANSFORMER
ISOLATED
POWER SUPPLY
BRAKE
+
+5V
ENC B
ENC -A=R1
ENC -B=R2
ENC Z
ENC A
FAULT input
MOTOR AND POWER
CN2
FAULT COLLECTOR
FAULT EMITER
+5V
STEP INPUT 1
DIRECTION INPUT 2
COM 3
1
2
3
4
5
6
7
8
9
GND 10
R1 11
R2 12
GND
ENC Z
ENC A
+5V
ENC B
+5V
PLC
GND
CONTROL
CN3
3
CN4
POWER GND
ENCODER AND COMMUTATOR
4
1
5
2
DC(-)
3
6
4
DC(+)
5
7
8
9
6
OVERLOAD TIME
BRAKE OUTPUT
7
(OPTIONAL)
8
LS-182SE
DC (BRUSH) MOTOR
WITH QUADRATURE
INCREMENTAL ENCODER
-
24VDC
~AC
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
LOGOSOL LS-182SE QUICK START GUIDE
Hardware Setup
- Connect power supply - 18 to 90 VDC for LS-182SE-1210 and LS-182SE-2010; 18 to 180V for
LS-182SE-1220.
- Connect your motor, encoder, Hall sensors and any other I/O you may have.
- Connect RS-232 adapter and RJ-45 network cable between LS-182SE and your host computer.
A. Software Installation
Install Logosol Distributed Control Network Utility from http://logosolinc.com/products/ldcn.htm.
The installation wizard will guide you through the setup process.
Note: When installing multiple drives, each drive should have its own twisted pair cable running to
terminals of the power supply. Don’t “daisy-chain” cables from one drive to the next. This will
aggravate cable noise and cause the noise from one drives to add to each other. The “star”wiring configuration will minimize wiring noise.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
9
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
B. Initial Connection to the Host
- Turn on the power supply.
- Run the Logosol Distributed Control Network Utility.
- Choose the proper COM port
- Click “SERVO” button.
- Click “GO” button. The motor should rotate slowly in positive direction. Click “Stop” to interrupt
the motion. More information about using LDCN utility is available in LDCN Help.
C. STEP/DIRECTION mode quick start
- Execute steps A and B without enabling the servo.
- Set “Servo Parameters” / “Step rate” box to 1 and click on “Set Servo Parameters”.
- Check “Servo Params” check box and “Servo on Power-up”, and click “Save” button in
“EEPROM” panel.
- Turn off the power supply.
- To select Step/Direction mode set Step/Dir =‘on’.
- Turn on the power supply
- In this mode the drive should be controlled via STEP/DIR INTERFACE.
When the controller is in step and direction mode, most of the controls are disabled. Clicking on
“Network” radio button in “Mode” panel performs switching to RS-485 network command mode.
Switching back to step and direction mode is possible only by resetting the controller.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
10
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
LS-182SE ARCHITECTURE
Overview
The LS-182SE Intelligent Servo Drive is a highly integrated servo control module including a motion
controller, servo amplifier, serial communication interface, step and direction interface, optical
encoder interface, limit switch inputs, and protection circuit (short circuit, under and overvoltage,
overcurrent and software controlled current limit). The Servo Drive is designed so that up to 31
controllers can be daisy-chained and connected directly to a single standard serial port (RS-232
adapter may be necessary).
ENCODER
INTERFACE
ENCODER AND COMMUTATOR
CN4
Z
HALL SENSOR
INTERFACE
S1
S2
RS-485
DRIVERS
S3
OPTOISOLATED
INPUTS
DIRECTION
LOGIC
CONTROL
UNIT
SERVO ENABLE
SERVO AND
COMMUNICATION
CONTROL
COM
OPTOISOLATED
FAULT OUTPUT
COLLECTOR
FAULT
EMITER
STP IN
I/O CONTROL
INTERFACE
REVERSE LIMIT
ADDRESS
SWITCHES
FORWARD LIMIT
CONTROL
CN2
HOST
CN6
B
STEP
STEP/DIRECTION INTERFACE
CN3
SLAVE
CN5
A
BRAKE OUTPUT
LS-182SE
PEAK CURRENT
OVERLOAD TIME
PEAK CURRENT AND
OVERLOAD TIME
CONTROL
MOTOR AND POWER
CN1
+5V
AC1 OR DC(+)
AC2 OR DC(-)
AC3
POWER GND
POWER DRIVER
DC/DC
CONVERTER
POWER (+)
Functional Diagram
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Encoder Input
The encoder interface accepts two square wave inputs, ENC A, ENC B and ENC –A (R1), ENC –B
(R2) from an incremental encoder (for single ended encoder ENC –A and ENC –B are ignored).
Ideally, these square waves are 50% duty cycle and exactly +/-90 degrees out of phase. To In any
case, the time between encoder state transitions should be not less than 0.2 µsec. With ideally
formed encoder pulses, this would correspond to a 2500-line encoder (10000 counts/rev) rotating at
30,000 RPM.
0.2us
min
0.2us
min
0.2us
min
0.2us
min
ENC A
ENC -A
ENC B
ENC -B
Encoder signals waveforms (CW motor direction)
All encoder inputs are with pull-up resistors 2K2 to +5V.
+5V
2K2
4K7
ENC A, ENC B, ENC Z
S1, S2, S3, R1, R2
Encoder and Hall Inputs
Note: If, in differential encoder mode, - ENC A, ENC –A and ENC B, ENC –B inputs are not
connected correctly, Power Driver will be disabled and Encoder error code will be generated. (refer
to Status Bits and LED section in this document).
Some incremental encoders are equipped with Index output – ENC Z. To be latched by the drive
control logic the index should be at least 0.4us. The drive is latching the Home position every servo
cycle. To guarantee the precise Homing, the velocity during homing procedure should be no more
than one encoder count per servo cycle (512us) (refer to “Set Homing Mode” command in
“Command description” section in this document).
0.4us
min
0.4us
min
ENC Z
One encoder revolution
0.4us
max
0.4us
max
LS-182SE INDEX
512us
max
Index position is latched
Index signal waveform
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Hall Inputs
Hall sensor inputs are on the same connector as encoder inputs. All hall sensors are with pull-up
resistors 2K2 to +5V. 60°/120° hall sensors may be used
Control inputs
There are 3 control inputs - STP IN, FORWARD LIMIT and REVERSE LIMIT. STP IN could be
used only as “STOP” input. Limit inputs may be used as Home switches, Limit switches or as
general-purpose inputs. (Refer to “I/O Control” and “Set Homing Mode” commands in the
“Command Description” section in this document) All the three inputs are implemented with pull-up
resistors 10K to +5V.
+5V
10K
33K
STP IN
REVERSE LIMIT
FORWARD LIMIT
0.1uF
Limit Switches and Stop Input
In Step/Direction mode FORWARD LIMIT and REVERSE LIMIT are active high limit switches. If
some of the limit switches is open (high) the movement in corresponding direction will be disabled.
Step/Direction interface
Three optoisolated inputs are available for control in Step/Direction mode. Interface power pin
(COM) might be connected to LS-182SE +5V or to external source. STEP and DIRECTION inputs
are equipped with high-sped optocoplers. SERVO ENABLE input is active low input and must be
On=low to enable motor rotation. If it is open the Power Driver is OFF and STEP input is disabled. If
output Driver is Off by Overcurrent, Overheat, Overvoltage, STP IN or Position Error the normal
operation will be restored by negative (high to low) transition of SERVO ENABLE input.
CN3 STEP/DIR INTERFACE
USER PLC
LS-182SE
+5V
COM*
2K2
STEP INPUT
470
OPEN COLLECTOR
OR TTL
2K2
DIRECTION INPUT
470
OPEN COLLECTOR
OR TTL
2K2
SERVO ENABLE
2K2
FAULT COLLECTOR
FAULT EMITER
3mA max
OPEN COLLECTOR
OR TTL
* COM could be connected to +5V external power source
STEP
Max. freq. 1.2MHZ
20ns
min
0.4us
min
0.4us
min
DIRECTION
STEP/DIRECTION interface
FAULT output is optoisolated. FAULT will be open always when the power drive is disabled.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
13
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Brake output
If Network Command mode is selected and Power Driver is OK, the brake will be released after
Pic_ae 0 to 1 transition. If the Drive is in Step/Direction mode the brake will be released after high
to low transition of SERVO ENABLE input.
Brake will be engaged (Brake output is OFF) if:
- STP IN is open;
- Ovrvoltage;
- Overcurrremt;
- Motor Short;
- Overheat;
- Encoder error in Differential Encoder mode;
- Position error exceeds position error limit.
Note: For additional information refer to Status bits and LED, Status byte and Auxiliary status byte
and Stop command description sections of this document.
Resetable Fuse
CN2 - 9
BRAKE OUTPUT
0.3A max
BRAKE
+
-
24VDC
(48VDC max)
Brake Output
Dip Switches
Dip switches are divided in three groups: terminators, address select and mode select. T-Input and
T-Output are used for connecting terminators to receive and transmit lines. Only the last drive
(starting form host) should has its T-in and T-out ON. Setting the address select switches (Address
0÷Address 2) to 0 (ON) sets the drive in daisy-chain address mode. If one or more of Address
0÷Address 2 are 1 (OFF) drive address is fixed to the selected value (refer to Addressing section of
this document). Step/Dir is mode select switch. To select Step/Direction mode set the switch to “on”
position. In this mode the drive is controlled by STEP/DIRECTION INTERFACE (refer to
Step/Direction interface section of this document). Serial command interface in STEP/DIRECTION
mode should be used only for parameters setting and diagnostics. In Network Command mode the
drive is controlled by RS-485 serial command interface. The Diff Encoder switch is to select the
Serial Command Interface
Serial communication with the LS-182SE drives adheres to a full-duplex (4 wire) 8 bit asynchronous
protocol with one start bit, followed by 8 data bits (lsb first), followed by a single stop bit.
The communication protocol of the LS-182SE also supports a full-duplex multi-drop RS-485
interface that allows multiple LS-182SE intelligent servo drives to be controlled over a single RS485 port. In this case, the host sends commands over its RS-485 transmit line and receives all
status data back over the shared RS-485 receive line.
The command protocol is a strict master/slave protocol in which the host master sends a command
packet over the command line to a specific LS-182SE slave. The data are stored in the buffer of the
LS-182SE until the end of the current servo cycle (0.512 msec max.) and then the command is
executed. The servo drive then sends back a status packet. Typically, the host does not send
another command until a status packet has been received to insure that it does not overwrite any
previous command data still in use.
Each command packet consists of:
Header byte (0xAA)
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Address byte - individual or group (0x00 - 0xFF)
Command byte
0 - 15 data bytes
Checksum byte
The command byte is divided into upper and lower nibbles: the lower nibble is the command value;
the upper nibble is the number of additional data bytes, which will follow the command byte. The
checksum byte is 8 bit sum of the address byte, the command byte and the data bytes. The number
of data bytes depends on the particular command chosen. After a command is issued, the
corresponding controller will send back a status packet consisting of:
Status byte
0-19 optional bytes of status data
Checksum byte
The status byte contains basic status information about the LS-182SE, including a checksum
error flag for the command just received. The optional data bytes may include data such as the
position, velocity, etc. and are programmable by the host. The checksum byte is the 8-bit sum of
the status byte and the additional optional status data bytes. The transmission of all 16-bit and
32-bit data is always with the least significant byte first.
There is only one exception – when using EEPROM control command with control byte 0 (Read
EEPROM Memory Data), 29 bytes of EEPROM content are returned before the normal status
packet.
NETWORK IN (HOST)
+5V
LS-182SE
A - Input
+A in
-A in
+Rx
-Rx
-Tx
+Tx
RS-485
LOGIC
CONTROL
UNIT
SERVO AND
COMMUNICATION
CONTROL
DRIVERS
GND
+5V
A _ Output
+5V
NETWORK OUT (SLAVE)
Receive data
+A out
-A out
+Rx
-Rx
-Tx
+Tx
GND
NC
Transmit data
Receive
Transmit
Terminators
Servo Driver Serial Interface
Addressing
LS-182SE has two addressing modes: Fixed Address mode - when one or more of Address 0 ÷ 2
are Off (DRIVE ADDRESS≠0) and Daisy-chain mode when all Address 0 ÷ 4 are On (DRIVE
ADDRESS=0).
In daisy-chain mode the host dynamically sets the address of each LS-182SE with the aid of the
daisy-chained A in and A out lines. This allows additional LS-182SE controllers to be added to an
RS-485 network with no hardware changes. A in of the first LS-182SE is pulled low, its
communication is enabled and the default address is 0x00. When the Set Address command is
issued to give this LS-182SE new unique address, it will lower its A out pin. Connecting A out pin
to the A in pin of the next servo drive in the network will enable its communication at default
address of 0x00. Repeating this process allows a variable number of controllers present to be
given unique addresses.
If fixed addressing mode is used the Drive address is fixed to:
DRIVE ADDRESS=Address 0x1+Address 1x2+Address 2x4
Where: Address 0 (1, 2) =0 if switch is On
Address 0 (1, 2) =1 if switch is Off
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Example:
ADR2
ADR1
ADR0
DRIVE ADDRESS=1x1+1x2+0x4=3
Note: Only one addressing mode must be used into a single network.
Interface
In addition to the individual address, each controller has a secondary group address. Several LS182SE controllers may share a common group address. This address is useful for sending
commands, which must be performed simultaneously by a number of drivers (e.g. Start motion,
Set Baud Rate, etc.). When a LS-182E receives a command sent to its group address, it will
execute the command but not send back a status packet. This prevents data collisions on the
shared response line. In programming group addresses, however, the host can specify that one
member of the group is the “group leader”. The group leader will send back a status packet just
like it would for a command sent to its individual address. The group address is programmed at
the same time as the unique individual address using the Set Address command.
Rx,Tx terminators - off
Rx, Tx terminators - off
Rx, Tx terminators - on
Multiple Controller Configuration
Changing Communications Rates
The default baud rate after power-up is 19.2 Kbps. Baud rates up to 115.2 Kbps may be used at
maximum servo rate. After communication has been established with all servo drives on a single
network, the baud rate may be changed to a higher value with the Set Baud Rate command.
Servo Control
LS-182SE uses a “proportional-integral-derivative”, or PID filter. The PWM signal is a square
wave with 51.2 µsec period and varying duty cycle. PWM value of 255 corresponds to 100% and
a value of 0 corresponds to 0%. Usually, PWM value greater than 250 is not recommended. The
control logic connected to output drivers converts PWM into a motor output (MOTOR AC1, AC2
and AC3).
The position, velocity and acceleration are programmed as 32-bit quantities in units of encoder
counts for servo ticks. For example, a velocity of one revolution per second of a motor with a 500
line encoder (2000 counts/rev) at a tick time of 0.512 msec would correspond to a velocity of
1.0240 counts/tick. Velocities and accelerations use the lower 16 bits as a fractional component
so that the actual programmed velocity would be 1.024 x 216 or 67,109. An acceleration of 4
rev/sec/sec (which would bring us up to the desired speed in ¼ sec) would be 0.0021
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
16
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
counts/tick/tick; with the lower 16 bits the fractional component, this would be programmed as
0.0021 x 216 or 137. Position is programmed as a straight 32-bit quantity with no fractional
component. Note that if the servo rate divisor is modified, the time dependent velocity and
acceleration parameters will also have to be modified.
PWM Mode Operation
If the position servo is disabled, the motor is operated in a raw PWM output mode and no
trapezoidal or velocity profiling is performed. In this mode, a user specified PWM value is
outputted directly to the amplifier. Command position is continually updated to match the actual
position of the motor and there will be no abrupt jump in the motor’s position when position or
velocity modes are entered. Also while the position servo is disabled, the command velocity is
continually updated to match the actual velocity of motor. Thus, when velocity mode is entered,
there will be no discontinuity in the motor’s velocity. (Trapezoidal profile motions, however, will
still force the motor to begin at zero velocity).
Connecting Brushless or Brush Type Motor
LS-182SE is capable of driving brushless commutated (AC) and brush (DC) type motors. No
jumpers or other setting are required. If there are no Hall sensors connected to “ENCODER AND
COMMUTATOR”, LS-182SE drives the motor as brush (DC) type. The positive motor lead should
be connected to “MOTOR AC1 or DC (+)” terminal and negative to “MOTOTR AC2 or DC(-)“
terminal of “MOTOR AND POWER” connector. If Hall sensors are detected, LS-182 performs
commutation according to their state.
Often, connecting the brushless motor phases is difficult because of the different terms and
signal names used by different manufacturers. Here is a simple procedure that may be used.
Connect the motor commutation sensors to LS-182SE “ENCODER AND COMMUTATOR”
connector according to the next table with most common manufacture signal names.
LS-182SE ENCODER AND COMMUTATOR signal
S1
S2
S3
Motor manufacture signal name
R
U
A
S1
S
V
B
S2
T
W
C
S3
Connect the commutator power leads to GND and +5V. Connect the encoder and its power lines
to the same connector. Connect the three motor leads to “MOTOR AC1 or DC(+)”, “MOTOR AC2
or DC(-)“, “MOTOR AC3 or NC” of LS-182SE “MOTOR AND POWER” connector using the same
order as for the commutation sensors. Power on LS-182SE and initialize the controller. Rotate
motor shaft CW (Clock Wise) by hand and check if the motor position is increasing. If motor
position is not changing or it is decreasing, check the encoder connection. Set the Drive in PWM
mode. Start the motor with PWM for example 5 (this value might be enough or not depending on
motor used) Set PWM to –5. If the phasing is correct the motor shaft should rotate CW (CCWCounter Clock Wise) smoothly without any jerks. Otherwise try different motor leads connection.
There are only six combinations and it is recommended to try all of them. Usually only one works
fine. If you find more than one, try to run the motor at higher speed. Set the Drive in velocity
mode and start the motor in CW direction. If the motor runs away, directions of motor and
encoder are opposite. To change the motor direction exchange S1 with S3 and AC1 with AC2. To
change the encoder direction exchange ENC A with ENC B and ENC –A (R1) with ENC –B (R2)
phase wires.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Safety Features and Diagnostics
To protect both the user device and the controller, LS-182SE is equipped with various safety
features.
STP IN – Stop Input
For normal operation STP IN signal must be LOW. If it is HIGH=open it will disable the Power
Driver and set status byte bit 3 (Power_on) to zero.
Undervoltage/Overvoltage Protection
LS-182SE is protected against power supply under/overvoltage. In case the power supply is
below 18V hardware reset is generated. Power supply voltage more then POWER (+) (refer to
Technical specifications table) will disable the Power Driver and set status byte bit 3 (Power_on)
to zero.
Motor current monitoring
Motor current can be monitored using Read Status command (refer to Command Description
section of this document). A/D value is proportional to the motor current according to the following
table:
A/D values as function of motor current
A/D Value
25
50
100
150
200
LS-182SE – 1210
1.0A
2.0A
4.0A
6.0A
8.0A
LS-182SE –1220
1.0A
2.0A
4.0A
6.0A
8.0A
LS-182SE –2010
1.8A
3.5A
6.7A
10.0A
13.0A
Overcurrent Protection
Peak Current, Current Limit and Overload Time are three parameters used for overload
protection.
Peak Current is hardware current limit and cannot be exceed. Current Limit is software-controlled
parameter (refer to Set Gain command description) and can be changed dynamically by the
software. Current overload limit is always the lower of these two values.
Overload Time is the maximum time for the Drive overloading. The current during the drive
overload is limited to the lower of Peak Current and Current limit.
Peak Current and Overload time may be set using external resistor or voltage source.
Peak Current setting
6 PEAK CURRENT
7 +5V
8 OVERLOAD TIME
6 PEAK CURRENT
7 +5V
8 OVERLOAD TIME
LS-182SE
0 to 5VDC
Vlotage Source
Ui
5 GND
6 PEAK CURRENT
+
7 +5V
8 OVERLOAD TIME
CN2 CONTROL
5 GND
Rc
LS-182SE
5 GND
CN2 CONTROL
LS-182SE
Imin<PEAK CURRENT<Imax
PEAK CURRENT=Imax
CN2 CONTROL
Imin<PEAK CURRENT<0.75 x Imax
(Rc= )
(Rc=0)
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Resistor
SHORT
Ri (pin 5 to pin 6)
SHORT
0.56K
1.2K
2K
3,3K
11K
OPEN
(pin 6 to pin 7)
LS-182SE – 1210
2.0A
3.0A
4.0A
5.0A
6.0A
8.0A
9.0A
12.0A
LS-182SE – 1220
2.0A
3.0A
4.0A
5.0A
6.0A
8.0A
9.0A
12.0A
LS-182SE – 2010
3.5A
5.0A
6.7A
8.5A
10.0A
13.0A
14.5A
20.0A
Voltage
Ui
0.0V
0.5V
1.0V
1.5V
2.0V
3.0V
3.5V
5.0V
LS-182SE – 1210
2.0A
3.0A
4.0A
5.0A
6.0A
8.0A
9.0A
12.0A
LS-182SE – 1220
2.0A
3.0A
4.0A
5.0A
6.0A
8.0A
9.0A
12.0A
LS-182SE – 2010
3.5A
5.0A
6.7A
8.5A
10.0A
13.0A
14.5A
20.0A
OVERLOAD TIME(max)=12s
5 GND
6 PEAK CURRENT
7 +5V
Rt
8 OVERLOAD TIME
LS-182SE
5 GND
6 PEAK CURRENT
7 +5V
8 OVERLOAD TIME
OVERLOAD TIME (min)=200ms
LS-182SE
CN2 CONTROL
LS-182SE
CN2 CONTROL
650ms<OVERLOAD TIME<12s
(Rt= )
(Rt=0)
5 GND
6 PEAK CURRENT
0 to 5VDC
Ui
Vlotage Source
7 +5V
+
8 OVERLOAD TIME
CN2 CONTROL
Time Setting
Resistor
Overload time
SHORT
(pin 5 to pin 8)
OPEN
300K
75K
Rt (pin 7 to pin 8)
36K
24K
11K
7.5K
SHORT
0.2s
0.65s
1.0s
2.0s
3.0s
6.0s
8.0s
12.0s
4.0s
Voltage
Ut
Overload time
0.0V
0.2s
0.5V
1.0s
1.0V
2.0s
1.5V
3.0s
2.0V
4.0s
3.0V
6.0s
3.5V
8.0s
5.0V
12.0s
Current limit parameter (CL parameter of Set Gain command) is compared each servo tick with
A/D value (proportional to the motor current). The actual PWM output value is:
PWM=PWMcalc – PWMadj
Where: PWM is the output value; PWMcalc is the motion command calculated value; PWMadj
(0<PWMadj≤PWMcalc) is an internal parameter. If CL<A/D PWMadj is incremented by 1 each
servo tick. If CL>A/D PWMadj is decremented by 1 to 0. Bit 2 (Current_Limit) of status byte will
be set until CL<A/D. CL is in the range of 0 ÷ 255 and only odd values must be used. “Logosol
MCL Interpreter for LS-182SE” CLI command (refer to MCL Terminal Interpreter Command Set
section in this document) is provided for current limit control. To disable the function set CL=0 of
Set Gain command.
If the motor current remains limited by Peak Current or Current limit for Time=Overload Time the
drive will be disabled.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
System Status
Stop Motor command - refer to Stop motor command (page 34):
Bit 0 – Pic_ae.
Auxiliary Status byte diagnostic bits - refer to Read status command (page 31) and Status byte and
Auxiliary status byte definitions (page 38):
Bit 0 – Index;
Bit 2 – Servo_on.
Status byte diagnostic bits - refer to Read status command (page 31) and Status byte and Auxiliary
status byte definitions (page 38):
Bit 3 – Power_on;
Bit 4 – Pos_error;
Bit 5 – Limit 1;
When power driver is OFF – diagnostic bit. When power driver is ON – REVERSE LIMIT.
Bit 6 – Limit 2
When power driver is OFF – diagnostic bit. When Power driver is ON – FORVARD LIMIT.
Diagnostic bits
Status
Status
Status
Status
Bit 6
Bit 5
Bit 4
Bit 3
Limit 2
Limit 1
1
1
FORWARD REVERSE
LIMIT
LIMIT
0
X
X
1
0
1
0
1
X
X
0
X
0
1
1
0
0
X
Auxiliary Auxiliary Stop Cmd
Bit 2
Pos_error Power_on Servo_on
X
1
0
1
X
X
X
1
1
1
1
1
1
1
1
0
0
0
0
0
0
1
0
1
0
0
0
0
0
0
0
0
0
0
Bit 0
Bit 0
Index
Pic_ae
1
Encoder
Index
1
1
1
1
1
1
1
0
X
0
1
0
0
0
1
1
1
1
1
1
CONDITION
Servo OFF, Power Driver OFF
Servo ON, Power Driver ON
Servo OFF, Power Driver ON
Overheat
STOP input activated
Overvoltage
STOP input activated (lathced)
Motor short/Overvoltage (lathced)
Overheat (lathced)
Overcurrent (lathced)
Encoder error (lathced, Diff Encoder only)
Position error (lathced)
LED’s
Green Orange
BRAKE
OUT
Off
On
Off
On
Off
On
Off
On
Off
Note: Both LED’s are On when drive power is OK and the network is not initialized;
After fault (lathced) – to restore the normal operation:
Set to 0 Pic_ae (Stop motor command, page 25);
Send Clear sticky bits command (page 27);
If there is no more fault condition Power_on (Status Byte Bit 3, page 29) will be set to 1;
To turn servo ON set Pic_ae to 1 (Stop motor command, page 25).
Power-up and Reset Conditions
On Power-up or reset, the following state is established:
Motor position is reset to zero
Velocity and acceleration values are set to zero
All gain parameters and limit values are set to zero
The servo rate divisor is set to 1 (0.512 msec servo rate)
The PWM value is set to zero
The controller is placed in PWM mode
The default status data is the status byte only
The individual address is set to 0x00 and the group address to 0xFF (group leader not set)
Communications are disables pending a low value of “A in”
The baud rate is set to 19.2 KBPS
In the status byte, the move_done and pos_error flags will be set and the current_limit and
home_in_progress flags will be cleared
In the auxiliary status byte, the pos_wrap, servo_on, accel_done, slew_done and
servo_overrun flags will be cleared.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
COMMAND SPECIFICATION
List of Commands
Command
Reset position
Set address
Define status
CMD
Code
0x0
0x1
0x2
Read status
Load trajectory
Start motion
Set gain
Stop motor
I/O control
0x3
0x4
0x5
0x6
0x7
0x8
Set home mode
Set baud rate
Clear bits
Save as home
0x9
0xA
0xB
0xC
EEPROM
control
Nop
Hard reset
0xD
# Data
Description
bytes
0
Sets position counter to zero
2
Sets the individual and group addresses
1
Defines which data should be sent in every status
packet
1
Causes particular status data to be returned just once
1-14 Loads motion trajectory parameters
0
Executes the previously loaded trajectory
14
Sets the PID gains and operating limits
1 or 5 Stops the motor in one of three manners
1-5
Sets the direction and values of the LIMIT pins and
auxiliary output ports values
1
Sets conditions for capturing the home position
1
Sets the baud rate (group command only)
0
Clears the sticky status bits
0
Saves the current position in the home position
register
1
Saves, restores and returns EEPROM memory content
0xE
0xF
0
0
Simply causes the defined status data to be returned
Resets the controller to its power-up state.
While
Moving?
No
Yes
Yes
Yes
Maybe*
Maybe**
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No***
Yes
Yes
*Only allowed while moving if the "start motion now" bit of the trajectory control word is not set
or if the "profile mode" bit is set for velocity mode.
**Only allowed while moving if the previously loaded trajectory has the "profile mode" bit set for
velocity mode.
***This command can be used with amplifier disabled (Pic_ae=0) only.
LS-182SE Command Description
Reset Position
Command value:
Number of data bytes:
Command byte:
0x0
0
0x00
Description:
Resets the 32-bit encoder counter to 0. Also resets the internal command position to 0 to prevent
the motor from jumping abruptly if the position servo is enabled. Do not issue this command while
executing a trapezoidal profile motion.
Set Address
Command value:
0x1
Number of data bytes:
2
Command byte:
0x21
Data bytes:
1.
Individual address: 0x01-0x7F (initial address 0x00)
2.
Group Address: 0x80-0xFF (initial value 0xFF)
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21
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Description:
Sets the individual address and group address. Group addresses are always interpreted as being
between 0x80 and 0xFF. If a Drive is to be a group leader, clear bit 7 of the desired group
address in the second data byte. The LS-182SE will automatically set bit 7 internally after
flagging the Drive as a group leader (If bit 7 of the second data byte is set, the module will be a
group member by default). The first time this command is issued after power-up or reset, it will
also enable communications for the next Drive in the network chain by lowering it’s “A out” signal.
Define Status
Command value:
0x2
Number of data bytes:
1
Command byte:
0x12
Data bytes:
1. Status items: (default: 0x00)
Bit
0:
send position (4 bytes)
1:
send A/D value (1 byte)
2:
send actual velocity (2 bytes - no fractional component)
3:
send auxiliary status byte (1 byte)
4:
send home position (4 bytes)
5:
send device ID and version number (2 bytes)
(motor controller device ID = 0, version number =60 - 69)
6:
send current position error (2 bytes)
7:
send auxiliary input port values (3 bytes)
Description:
Defines what additional data will be sent in the status packet along with the status byte. Setting
bits in the command’s data byte will cause the corresponding additional data bytes to be sent
after the status byte. The status data will always be sent in the order listed. For example if bits 0
and 3 are set, the status packet will consist of the status byte followed by four bytes of position
data, followed by the auxiliary status byte, followed by the checksum. The status packet returned
in response to this command will include the additional data bytes specified. On power-up or
reset, the default status packet will include only the status byte and the checksum byte.
Note: The actual velocity is a positive number when moving in reverse direction and a negative
number when moving in forward direction.
Read Status
Command value:
0x3
Number of data bytes: 1
Command byte:
0x13
Data bytes:
1.Status items:
Bit
0:
send position (4 bytes)
1:
send A/D value (1 byte)
2:
send actual velocity (2 bytes - no fractional component)
3:
send auxiliary status byte (1 byte)
4:
send home position (4 bytes)
5:
send device ID, version number (2 bytes)
(Motor controller device ID = 0, version number = 60 - 69)
6:
send current position error (2 bytes)
7:
send auxiliary input port values (3 bytes)
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
22
Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Description:
This is a non-permanent version of the Define Status command. The status packet returned in
response to this command will incorporate the data bytes specified, but subsequent status packets
will include only the data bytes previously specified with the Define Status command.
Note: The actual velocity is a positive number when moving in reverse direction and a negative
number when moving in forward direction.
Load Trajectory
Command value:
0x4
Number of data bytes: n = 1-14
Command byte:
0xn4
Data bytes:
1.Control byte:
Bit
0:
load position data (n = n + 4 bytes)
1:
load velocity data (n = n + 4 bytes)
2:
load acceleration data (n = n + 4 bytes)
3:
load PWM value (n = n + 1 bytes)
4:
servo mode - 0 = PWM mode, 1 = position servo
5:
profile mode - 0 = trapezoidal profile, 1 = velocity profile
6:
velocity/PWM direction - 0 = FWD, 1 = REV
7:
start motion now
Description:
All motion parameters are set with this command. Setting one of the first four bits in the control
byte will require additional data bytes to be sent (as indicated) in the order listed. The position
data (range * +/- 0x7FFFFFFF) is only used as the goal position in trapezoidal profile mode. The
velocity data (range 0x00000000 to 0x7FFFFFFF) is used as the goal velocity in velocity profile
mode or as the maximum velocity in trapezoidal profile mode. Velocity is given in encoder counts
per servo tick, multiplied by 65536. The acceleration data (range 0x00000000 to 0x7FFFFFFF) is
used in both trapezoidal and velocity profile mode. Acceleration is given in encoder counts per
servo tick per servo tick, multiplied by 65536. The PWM value (range 0x00 - 0xFF), used only
when the position servo is not operating, sends a raw PWM value directly to the amplifier. The
PWM value is reset to 0 internally on any condition, which automatically disables the position
servo. Bit 4 of the control byte specifies whether the position servo should be used or the PWM
mode should be entered. Bit 5 specifies whether a trapezoidal profile motion should be initiated
or the velocity profiler is used. Trapezoidal profile motions should only be initialized when the
motor velocity is 0. (Bit 0 of the status byte indicates when a trapezoidal profile motion is
complete, or in velocity mode, when the command velocity has been reached.) Bit 6 indicates
the velocity or PWM direction and is ignored in trapezoidal profile mode. If bit 7 is set, the
command will be executed immediately. If bit 7 is clear, the command data will be buffered and it
will be executed when the Start Motion command is issued. For example to only load new
position data and acceleration data but not to start the motion yet, the command byte would be
0x94, the control byte would be 0x15, followed by 4 bytes of position data (least significant byte
first), followed by 4 bytes of acceleration data.
If in the middle of a trapezoidal position move, a new Load Trajectory command is issued with
new position data downloaded, new position data will be used as a relative offset to modify the
goal position. For example, if in the middle of a move to position 50,000, a new Load Trajectory
command with new position data of 10,000 is loaded, the motor will stop at final position of
60,000. The relative offset can be either positive or negative. The new Load Trajectory command
must be issued while the motor is running at a constant velocity – issuing the command while
* While the position may range from -0x7FFFFFFF to +0x7FFFFFFF, the goal position should
not differ from the current position by more then 0x7FFFFFFF.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
accelerating or decelerating will cause a position error to occur. If more than one Load Trajectory
is issued before the end of move, the goal position will be modified by the sum of relative offsets.
Start Motion
Command value:
Number of data bytes:
Command byte:
0x5
0
0x05
Description:
Causes the trajectory information loaded with the most recent Load Trajectory command to
execute. This is useful for loading several LS-182SE chips with trajectory information and then
starting them simultaneously with a group command.
Set Gain
Command value:
0x6
Number of data bytes: 14
Command byte:
0xE6
Data bytes:
1,2.
Position gain Kp (0 - 0x7FFF)
3,4.
Velocity gain Kd (0 - 0x7FFF)
5,6
Integral gain Ki (0 - 0x7FFF)
7,8.
Integration limit IL (0 - 0x7FFF)
9.
Output limit OL (0 - 0xFF) (typically recommended 0xFA)
10.
Current limit CL (0 - 0xFF) (only odd values)
11,12 Position error limit EL (0 - 0x3FFF)
13.
Servo rate divisor SR (1 - 0xFF)
14.
Amplifier deadband compensation (0 - 0xFF) (typical value is between 0x03 and 0x05)
Description:
Sets all parameters and limits governing the behavior of the position servo. KP, KD, KI and IL are
PID filter parameters. OL limits the maximal PWM output value to 0<PWM≤OL in position servo
modes. In PWM mode OL is ignored. CL is used for motor current limitation (refer to “Motor
current monitoring” in “Safety Features” for detailed information). Setting CL=0 effectively
disables current limiting. The position error limit (EL) will cause the position servo to be disabled
should the position error grow beyond the limit. The servo rate divisor sets the servo tick time to
be a multiple of 0.512 msec (1.953 KHz). For example SR=3 defines a servo rate of 651 Hz. The
servo tick rate is also used as the profiling time base, although command processing and current
limiting are always performed at the maximum tick rate. Some times it is necessary to
compensate for the deadband region around zero PWM output exhibited by some amplifier/motor
combinations. The deadband compensation value will be added to the magnitude of the PWM
output to force the amplifier into its active region.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
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Stop Motor
Command value:
0x7
Number of data bytes: 1 or 5
Command byte:
0x17 or 0x57
Data bytes:
1. Stop control byte
Bit
0:
Pic_ae (Power Driver enable)
1:
Turn motor off
2:
Stop abruptly
3:
Stop smoothly
4:
Stop here
5-7:
Clear all to 0
2-5. Stopping position (only required if bit 4 above is set)
Description:
Stops the motor in the specified manner. If bit 0 of the Stop Control Byte is set, Power Driver will
be enabled. If bit 0 is cleared Power Driver will be disabled, regardless of the state of the other
bits. Pic_ae also controls the meaning of bit 3 (Power_on), bit 5 (Reverse Limit), and bit 6
(Forward Limit) of status byte (refer to “Status Bits” section of “Safety Features” in this
document). If bit 1 is set, the position servo will be disabled, the PWM output value will be set to
0, and bits 2, 3 and 4 will be ignored. If bit 2 is set, the current command velocity and the goal
velocity will be set to 0, the position servo will be enabled, and velocity mode will be entered. If
the velocity servo was previously disabled, the motor will simply start servoing to its current
position. If the motor was previously moving in one of the profiling modes, it will stop moving
abruptly and servo to its current position. This stopping mode should only be used as an
emergency stop where the motor position needs to be maintained. Setting bit 3 enters a more
graceful stop mode - this sets the goal velocity to 0 and enters velocity mode, causing the motor
to decelerate to a stop at the current acceleration rate. If bit 4 is set, the motor will move to the
specified stopping position abruptly with no profiling. This mode can be used to cause the motor
to track a continuous string of command positions. Note that if the stopping position is too far
from the current position, a position error will be generated. Only one of the bits 1, 2, 3 or 4
should be set at the same time. The Stop Motor command must be issued initially to set Pic_ae
before other motion commands are issued.
I/O Control
Command value:
0x8
Number of data bytes: n=1 - 5
Command byte:
0xn8
Data bytes:
1.
I/O control byte
Bit
0:
Output value of Reverse Limit (not used)
1:
Output value of Forward Limit (not used)
2:
Direction of Reverse Limit (must be set to 1 = input)
3:
Direction of Forward Limit (must be set to 1 = input)
4:
Write next data byte to AUX Port 0 (n = n + 1 byte)
5:
Write next data byte to AUX Port 1 (n = n + 1 byte)
6:
Write next data byte to AUX Port 2 (n = n + 1 byte)
7:
Write next data byte to AUX Port 3 (n = n + 1 byte)
Description:
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
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Sets the four values of auxiliary ports of LS-182SE. Setting one of the bits 4 to 7 in the control
byte will require additional data byte to be sent (as indicated) in the order listed.
When the controller is in STEP/Direction mode, this command with bit 0 set to 1 switches the
controller in RS-485 network command mode. Switching back to STEP/Direction mode is
performed with Hard Reset command. This function works with version 64 and above.
After power-up Reverse Limit and Forward Limit are inputs.
Note: Write ports command is implemented in software level only and is intended for further use.
Set Homing Mode
Command value:
0x9
Number of data bytes:
1
Command byte:
0x19
Data bytes:
1. Homing control byte
Bit 0:
Capture home position on change of Reverse Limit
1:
Capture home position on change of Forward Limit
2
Turn motor off on home
3:
Capture home on change of Index
4:
Stop abruptly on home
5:
Stop smoothly on home
6:
Capture home position when an excess position error occurs
7:
Capture home position when current limiting occurs
Description:
Causes the Drive to monitor the specified conditions and capture the home position when any of
the flagged conditions occur. The home_in_progress bit in the status byte is set when this
command is issued and it is lowered when the home position has been found. Setting one (and
only one) of bits 2, 4 or 5 will cause the motor to stop automatically in the specified manner once
the home condition has been triggered. This feature can also be used as a safety shutoff.
Note: For homing with Index signal, use low velocities, which ensure the time of the Index pulse
is at least one servo tick (0.512 msec). The maximum theoretical homing velocity is 65536 (one
encoder count per servo tick). Depending of motor vibrations, the homing velocity should be less
than 65536. A recommended homing velocity is 16384 (0.25 encoder counts per servo tick).
Set Baud Rate
Command value:
0xA
sample values:
Number of data bytes: 1
9600
BRD = 0x81
Command byte:
0x1A
19200
BRD = 0x3F
Data bytes:
57600
BRD = 0x14
1. Baud rate divisor,
BRD
115200
BRD = 0x0A
Description:
Sets the communication baud rate. All LS-182SE drives on the network must have their baud
rates changed at the same time; therefore this command should only be issued to a group
including all of the controllers on the network. A status packet returned from this command would
be at the new baud rate, so typically (unless the host’s baud rate can be accurately
synchronized) there should be no group leader when this command is issued.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
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Clear Sticky Bits
Command value:
Number of data bytes: 0
Command byte:
0xB
0x0B
Description:
The overcurrent and position error bits in the status byte and the position wrap and servo timer
overrun bits in the auxiliary status byte will stay set unless cleared explicitly with this command.
Save Current Position as Home
Command value:
0xC
Number of data bytes: 0
Command byte:
0x0C
Description:
Causes the current position to be saved as the home position. This command is typically issued
to a group of controllers to cause their current positions to be stored synchronously. The stored
positions can then be read individually by reading the home position
EEPROM Control
Command value:
0xD
Number of data bytes: n = 1 - 5
Command byte:
0xnD
Actually there are 8 different EEPROM Control commands. All of these commands have to be
used when servo is disabled (Pic_ae=0):
Read EEPROM memory data
1D 00
This command causes the module to return 29 bytes of EEPROM data and a normal status
packet after them. The meanings of these 29 bytes follow:
KP – bytes 0 and 1; KD – bytes 2 and 3; KI – bytes 4 and 5; IL – bytes 6 and 7; Output limit –
byte 8; Current limit – byte 9; Maximal error limit – bytes 10 and 11; Servo rate divisor – byte
12; Amplifier deadband compensation – byte 13; Velocity – bytes 14, 15, 16 and 17;
Acceleration – bytes 18, 19, 20 and 21; Byte 22 is not used; Servo init state – byte 23 (if this
byte is 0x01 LS-182SE will turn on servo loop on power-up); Auxiliary output ports 0 to 3 –
bytes 24, 25, 26 and 27; Mode – byte 28 (0x01 – step and direction mode, 0x00 – network
mode).
Save gain parameters
1D 01
Saves previously loaded servo gain parameters (see Servo Gain Command)
Restore gain parameters
1D 02
Restores servo gain parameters from EEPROM memory. This command has the same effect
as Set Gain command with corresponding values.
Save velocity and acceleration
1D 04
Saves previously loaded goal velocity and acceleration used in the last motion.
Restore velocity and acceleration
1D 08
Restores goal velocity and acceleration. This command has the same effect as Load
trajectory command with corresponding velocity and acceleration.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
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Save auxiliary output values
5D 10 N0 N1 N2 N3
Saves the values N0, N1, N2 and N3 (0-0xFF) as auxiliary output values in EEPROM.
Restore auxiliary output values
1D 20
Restores auxiliary output values from EEPROM to the outputs. This command has the same
effect as I/O Control command with corresponding values for auxiliary outputs.
Save “servo off power-up state”
1D 40
Causes LS-183 to save “no servo” state as a starting state after Power-up.
Save “servo on power-up state”.
1D C0
Causes LS-183 to save “servo” state as a starting state after Power-up.
Note: These commands normally need more time to be executed than single execution loop
time and causes servo_overrun bit in auxiliary status byte to be set. This bit can be cleared
with Clear Sticky Bits Command.
No Operation
Command value:
Number of data bytes:
Command byte:
0xE
0
0x0E
Description:
Does nothing except cause a status packet with the currently defined status data to be returned.
Hard Reset
Command value:
Number of data bytes: 0
Command byte:
0xF
0x0F
Description:
Resets the control module to its power-up state. No status will be returned. Typically, this
command is issued to all the modules on the network, although if the baud rate is set at the
default, it is possible to reset and re-initialize the addresses of a contiguous sub-chain of
modules.
Note: Hard Reset command sent at address 0xFF will be executed by all LS-182SE Drives,
regardless of their own group address.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
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STATUS BYTE AND AUXILIARY STATUS BYTE DEFINITIONS
Status Byte
Bit
Name
Definition
0
Move_done
Clear when in the middle of a trapezoidal profile move or in
velocity mode, when accelerating from one velocity to the
next. This bit is set otherwise, including while the position
servo is disabled
1
Cksum_error
Set if there was a checksum error in the command packet
received
2
Current_limit
Set if current limiting occurred (refer to “Motor Current Monitoring”
section in this document). Must be cleared by user with Clear
Sticky Bits command.
3
Power_on/diag. bit
Refer to “Status Bits and LED” section in this
document
4
Pos_error
Set if the position error exceeds the position error limit.
It is also set whenever the position servo is disabled. Must
be cleared by user with Clear Sticky Bits command.
5
Reverse Limit/
Reverse Limit or diagnostic bit (refer to “Status Bits and LED”
diag. bit
section in this document).
6
Forward Limit/
Forward Limit or diagnostic bit (refer to “Status Bits and LED”
diag. bit
section in this document).
7
Home_in_progress Set while searching for a home position. Reset to
zero once the home position has been captured.
Auxiliary Status Byte
Name
Definition
Bit
0
Index/diag. bit
Compliment of the value of the index* input or diagnostic bit
(refer to “Status Bits and LED” section in this document).
1
Pos_wrap
Set if the 32-bit position counter wraps around.
Must be cleared with the Clear Sticky Bits command
2
Servo_on
Set if the position servo is enabled, clear otherwise
3
Accel_done
4
Slew_done
5
Servo_overrun
Set when the initial acceleration phase of a
trapezoidal profile move is complete. Cleared when
the next move is started.
Set when the slew portion of a trapezoidal profile
move is complete. Cleared when the next move is
started.
At the highest baud rate and servo rate, certain combinations
of calculations may cause the servo, profiling, and command
processing to take longer than 0.512 msec, in which case,
this bit will be set. This is typically not serious, only periodically
introducing a small fraction of a millisecond delay to the servo
tick time. Cleared with the Clear Sticky Bits command.
6
Reserved
7
Reserved
*The logic level of Index=bit0 is changing on every encoder phase Z low to high transition.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
INITIALIZING PROCEDURE AND PROGRAMMING EXAMPLES FOR LS-182SE
To ensure a proper operation of all LS-182SE drives connected to the network, the following
initializing steps should be executed:
1. Reset all modules using Hard Reset command.
2. Set the addresses for all connected drives.
3. Set the individual gains (KP, KD, KI, IL, OL, CL, EL, SR and DB). Minimal requirements
are: KP <> 0, EL <> 0, and SR <> 0.
4. Use Load trajectory command to set the target position, velocity and acceleration with start
motion now in trapezoidal mode. Minimal requirements are acceleration <> 0 and target
position = 0. This command does not start any motion. It is necessary to initialize internal
registers of the module.
5. Close the servo loop by using Stop Motor command (Pic_ae=1 and Stop abruptly=1).
Note: Steps 3, 4 and are necessary only if EEPROM data do not fit minimal requirements. Step 5
is necessary if servo init byte in EEPROM is 0.
Understanding the Serial Communication with LS-182SE
The Serial Communication with LS-182SE is strictly master-slave and matches repeatedly two
elements:
- Sending a command to the specified drive’s address;
- Receiving the answer to the command sent – Status Byte(s).
Note: During the communication all bytes are sent with LSB first.
Commands
There are 16 commands controlling LS-182SE drives (refer to LS -182SE Command
Description). Each command as shown in the following two tables includes header, address,
command, data bytes and one checksum byte. Checksum does not include header byte.
Structure of Read Status command
Byte 1
Header
Byte 2
Address
(Individual or
Group)
AA
01
Byte 3
Command Code
High 4 bits
Low 4 bits
No. of data bytes command code
1
3
Byte 4
Data Byte
Byte 5
CheckSum =
Byte 2 + Byte 3 +
Data Byte
01
15
Examples
Cmd. Bytes
Command
Reset position
Define status
Set address
Load trajectory
Set gain
Byte 1
Header
Byte 2
Address
Byte 3
Cmd. Code
AA
AA
AA
AA
AA
01
05
01
01
01
00
12
21
54
E6
Byte 4 - N
Data Byte(s)
05
07 F0
91 00 28 00 00
64 00 00 04 00 00 00 00 FF
00 00 08 01 00
Byte N+1
Checksum
01
1C
19
0E
57
Status Data
The structure of the returned status information depends on Define Status or Read Status
commands (refer to LS-182SE Command Description). By default only the Status byte and
Checksum are returned to the host.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Examples
Byte 1
Status Byte
09
09
Optional Bytes 0-16
CheckSum
Additional Status Bytes as position, velocity, home
CheckSum = Byte 1+ Optional Bytes
position, A/D auxiliary byte, version and position error.
no additional status bytes requested
09
00 28 00 00 – four additional status bytes
31
Addressing
Each drive in the daisy-chained network has two addresses:
- Individual - for individual control of each drive. Its range is from 01h to 7Fh.
- Group - for simultaneous control of all group members by sending a single command
to their group address. It is in the range of 80h to FFh.
Both these addresses have to be set during the initialization process.
The group may have a Group leader responsible to send status data. Its address is:
Group leader address = Group address - 80h.
If there is no group leader - no status data will be send after a group command.
Set Baud Rate command must be sent only as a group command with no group leader, otherwise
communication problems may occur.
Set Address command format
Byte 1
Header
Byte 2
Preset Address
Byte 3
Command
code
Byte 4
Individual
Address
Byte 5
Group Address
Byte 6
Checksum
AA
00
21
01
FF
21
Setting the Addresses
After power-up and Hard Reset command all drives have their address set to 00h and only the
first drive (starting from the host) has its communication enabled. Consecutive Set Address
commands are sent to address 00h until all drives are addressed. This procedure can be
executed once after Hard Reset. The table below shows the steps to address 3-drives network.
Example of sequential addressing for three LS-182SE drives
S Command
t
e
p
0 Power-up
1 Hard Reset
Set address
Hexadecimal
Code
AA FF 0F 0E
Drive 1
Individual
address
Drive 2
Group
address
address=00
communication
enabled
01
FF
Individual
address
Drive 3
Group
address
3 Set Address AA 00 21 02 FF 22
Drive2 = 02
01
FF
address=00
communication
disabled
address=00
communication
enabled
02
FF
4 Set Address AA 00 21 03 FF 23
Drive3 = 03
01
FF
02
2 Set Address AA 00 21 01 FF 21
Drive1 = 01
FF
Individual
address
Group
address
address=00
communication
disabled
address=00
communication
disabled
address=00
communication
enabled
03
FF
Note: Before start addressing always Hard Reset command must be issued.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
The flowchart shows the addressing procedure of N drives network. There is no group leader and
the group address is FF.
I - Individual
Address; J - Group Address = FF;
Status - Status Data sent to the Host; Timeout - Greater than one servo circle.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
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Examples of Managing Two LS-182SE Drives
# 1 – Resets all modules with group command.
# 2 and # 3 - Set the addresses of drives 1 and 2.
# 4 and # 5 - Set PID parameters of drives 1 and 2.
# 6 and # 7 - Starts motion in trapezoidal mode with target position=0, velocity=0, acceleration=1
and PWM=0.
# 8 and # 9 - Close servo loops of drives 1 and 2. Initialization is complete at this point.
# 10 and # 10 - Load trajectories (positions, velocities and accelerations) for drives 1 and 2.
# 12 and # 13 - Load and execute new trajectory for drive 1.
# 14 and # 15 - Read additional status bytes from drives 1 and 2.
# 16, # 17 and #18 - Load new trajectories for drives 1 and 2 and execute them with one
command sent to the drives’ group address.
Examples
#
Hexadecimal code of command
1
AA FF 0F 0E
2
AA 00 21 01 FF 21
3
AA 00 21 02 FF 22
4
AA 01 E6 64 00 00 04 00 00 00
00 FF 00 00 08 01 00 57
5
AA 02 E6 64 00 00 04 00 00 00
00 FF 00 00 08 01 00 58
6
8
AA 01 E4 9F 00 00 00 00 00 00
00 00 01 00 00 00 00 85
AA 02 E4 9F 00 00 00 00 00 00
00 00 01 00 00 00 00 86
AA 01 17 05 1D
9
AA 02 17 05 1E
10
12
13
14
15
16
17
AA 01 E4 9F 00 00 00 00 00 80
01 00 64 00 00 00 00 69
AA 02 E4 9F 00 00 00 00 00 80
01 00 64 00 00 00 00 6A
AA 01 54 11 00 28 00 00 8E
AA 01 05 06
AA 01 13 05 19
AA 02 13 05 1A
AA 01 54 11 20 4E 00 00 D4
AA 02 54 11 E0 B1 FF FF F6
18
AA FF 05 04
7
11
Comments
Hard Reset
Set Address 01h for drive 1. Group address=FFh.
Set Address 02h for drive 2. Group address=FFh.
Set Gains of drive 1 – defines PID parameters: KP=64h,
KI=400h, KI=00h, IL=00h, OL=FFh, CL=00h, EL=800h,
SR=01h, DC=00h.
Set Gains of drive 2 – defines PID parameters: KP=64h,
KI=400h, KI=00h, IL=00h, OL=FFh, CL=00h, EL=800h,
SR=01h, DC=00h.
Load trajectory for drive 1 – target position=0, velocity=0,
acceleration=1, PWM=0 and start motion now
Load trajectory for drive 2 – target position=0, velocity=0,
acceleration=1, PWM=0 and start motion now
Stop Motor - closes servo loop of drive 1 with Power
Driver enable and Stop Abruptly in Command byte.
Stop Motor - closes servo loop of drive 2 with Power
Driver enable and Stop Abruptly in Command byte.
Load Trajectory of drive 1 with Pos=0000h, Vel=18000h,
Acc=6400h, PWM=00h, servo mode=1.
Load Trajectory of drive 2 with Pos=0000h, Vel=18000h,
Acc=6400h, PWM=00h, servo mode=1.
Load Trajectory of drive 1 with new position=2800h.
Start Motion - executes previously loaded trajectory.
Read Status from drive 1 (plus position and velocity).
Read Status from drive 2 (plus position and velocity).
Load Trajectory of drive 1 with new position=4E20h.
Load Trajectory of drive 2 with new
position=FFFFB1E0h (-4E20h).
Start Motion – executes previously loaded trajectories.
The command is sent to the drives’ group address FFh.
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Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182SE
Doc # 712182006 / Rev. A, 02/11/2010
Procedure Initialize
AA FF 0F 0E
Hard reset
AA 00 21 01 FF 21
Set address
AA 00 21 02 FF 22
Search for more modules...
AA 01 13 20 34
Reads Device ID and Version number
AA 01 13 FF 13
Reads all status data
AA 01 1D 00 1E*
Reads EEPROM memory data
AA 01 E6 64 00 00 04 00 00 00 00 Sets Gain parameters
FF 00 00 08 01 00 57
AA 01 E4 9F 00 00 00 00 00 00 00 Sets Trajectory parameters
00 01 00 00 00 00 85
AA 01 17 09 21
Closes the servo loop
*Initialization is complete after this command if gain and trajectory parameters are present in
EEPROM memory and servo init byte is 1.
Procedure FindHomePosition
AA 01 E6 C8 00 20 03 46 00 28 00 Sets gain parameters: KP=200, KD=800, KI=70,
FF 00 40 1F 01 00 9F
IL=40, Output limit=255, current limit =0, Position
error limit=8000, Servo rate divisor=1 amplifier
deadband compensation=0
AA 01 17 09 21
Closes the servo loop (Stop smoothly and amplifier
enable)
AA 01 94 37 25 06 01 00 58 01 00 Loads trajectory: Velocity mode, Forward direction,
00 51
Velocity=1 round per second (67109 programmed
velocity for 500 line encoder), Acceleration = 10
round per second2 (344 programmed acceleration
for 500 line encoder)
AA 01 19 12 2C
Sets home mode - capture home position on change
of Forward Limit and stop abruptly
AA 01 05 06
Starts motion
wait while home_in_progress bit=1
Home position is found on change of Forward limit
AA 01 19 18 32
Sets home mode - capture home position on change
of Index and stop abruptly
AA 01 94 77 25 06 01 00 58 01 00 Loads trajectory: Velocity mode, Reverse direction
00 91
AA 01 05 06
Starts motion
wait while home_in_progress bit=1
Home position is found on change of Index
Calculation of programmed velocity and acceleration for servo rate divisor = 1:
Vel = (encoder counts per revolution) x (number of revolution per second) x 33.554432
Acc = (encoder counts per revolution) x (number of revolution per second2) x 0.017179869184
For this example:
Vel
= 2000 x 1
Acc
= 2000 x 10
x 33.554432
x 0.017179869184
= 67109
= 344
= 00010625h
= 00000158h
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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