Logosol AC/DC Intelligent Servo Drive LS-173E

Logosol AC/DC Intelligent Servo Drive LS-173E

Logosol AC/DC Intelligent Servo Drive LS-173E

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Features

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Motors supported:

-

Panasonic A and S series motors

-

Brushless 60/120

°

commutated

-

Brush-commutated (DC)

-

Motors with index coded commutation

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Output current

-

12A peak, 8A continuous

-

20A peak, 12A continuous

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12 to 90V single power supply

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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

Over/under voltage shutdown

Overheating protection

Hardware 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

Encoder transition rate up to 5MHz.

Small footprint (5” x 3.3” x 0.85”)

Doc # 712173008 / Rev. F, 12/16/2009

Description

LS-173E is a single-axis motion controller with integrated servo amplifier designed for applications using Panasonic A and S series motors, standard brushless or brush-commutated motors, and motors with index coded commutation, up to 1 HP.

Trapezoidal brushless motor commutation is performed. 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-173E is equipped with various safety features such as short circuit protection for the motor and amplifier, over travel limit switch inputs, hardware stop input, over and under voltage shutdown. The maximum motor output current can be limited by setting of dipswitches or by software.

Logosol, Inc.

1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com

Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

TECHNICAL SPECIFICATIONS rated at 25

o

C ambient, POWER (+)=60VDC, Load=250

μH motor

POWER SUPPLY VOLTAGE

MAX MOTOR OUTPUT CURRENT

LS-173E-1210, LS-173E4-1210

LS-173E-2010 LS-173E4-2010

MAX MOTOR OUTPUT VOLTAGE

MIN LOAD INDUCTANCE

PWM SWITCHING FREQUENCY

LS-173E-1210, LS-173E-2010

LS-173E4-1210, LS-173E4-2010

SERVO RATE

SERIAL BAUD RATE

OPEN COLLECTOR BRAKE OUTPUT

Max voltage applied to output

Max current load

INPUTS

Encoder & Commutation

Digital Inputs

ENCODER

COMMUTATION

LEDS

ORANGE

GREEN or

RED with two intensity levels

PROTECTION

Short circuit

Overheating shut off

12 to 90 V DC, 100V Absolute Maximum

Peak/Continuous

8A/12A

12A/20A

V out

= 0.96(POWER (+)) – 0.17(I out

)

200

μH

19,512 KHz

39,024 KHz

0.512 msec

19.2 – 115.2 Kbps

(faster communication rates are possible at lower servo rates)

48V

0.3A

TTL with 2K2 pull-up to 5V

LOmin=-0.5V, HImax=48V

Quadrature with index

Hall sensors 60/120

o

Power ‘ok’ (ORANGE and GREEN leds are ON when the Power

Servo ‘on’ is ‘OK’ and the device is not initialized)

Power ‘ok’ – low intensity / Servo ‘on’ – high intensity

Motor output to motor output

Motor output to POWER GND

Motor output to POWER (+)

Activated at 80

o

C

POWER DISSIPATION (max)

THERMAL REQUIREMENTS

Storage temperature range

Operating temperature range

MECHANICAL

Size

Weight

MATING CONNECTORS

Power & Motor

Inputs & Outputs

Encoder & Commutator

Communication

30W

–30 to +85

o

C

0 to 45

o

C

L=5.00”, H=3.30”, D=0.85”

0.55lb. (250gr.)

Magnum EM2565-06-VL or Phoenix MSTB 2.5/6-ST-5.08

Molex 22-01-3077 housing with 08-50-0114 pins (7 pcs.)

Molex 22-01-3107 housing with 08-50-0114 pins (10 pcs.)

8 pin RJ-45

Logosol, Inc.

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Logosol AC/DC Intelligent Servo Drive LS-173E

DIMENSIONAL DRAWING

Doc # 712173008 / Rev. F, 12/16/2009

SERVO DRIVE LAYOUT

ORDERING GUIDE

PART NUMBER

912173026

912173027

912173028

912173029

230601004

230601017

MODEL

LS-173E-1210

LS-173E-2010

LS-173E4-1210

LS-173E4-2010

LS-173-CN

PAN-AS-CN

DESCRIPTION

Intelligent Servo Drive 12A/8A /100V 20KHz PWM

Intelligent Servo Drive 20A/12A /100V 20KHz PWM

Intelligent Servo Drive 12A/8A /100V 40KHz PWM

Intelligent Servo Drive 10A/12A /100V 40KHz PWM

Mating connector kit

Mating connector kit for Panasonic A and S series motors

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Logosol AC/DC Intelligent Servo Drive LS-173E

CONNECTORS AND PINOUT

Doc # 712173008 / Rev. F, 12/16/2009

2

3

4

5

6

DIP SW – DIP SWITCH

SW SIGNAL

1 T-out

DESCRIPTION

Transmit line terminator

T-in

CL-D

CL-C

CL-B

CL-A

Receive line terminator

Current limit switch

Current limit switch

Current limit switch

Current limit switch

OFF

OFF

OFF

ON

ON

ON

SW1=OFF, SW2=ON – Brush motor with differential encoder

SW1=ON, SW2=OFF – Panasonic A or S series motor (P-mode)

SW1=OFF, SW2=OFF – Motor with index coded commutation

CN1 – POWER AND MOTOR CONNECTOR

PIN SIGNAL

1 POWER (+) 12 to 90V

2

POWER GND*

3 POWER GND*

DESCRIPTION

12 to 90V power supply, positive terminal

Power supply ground

Power supply ground

4 MOTOR AC3 (W) or NC

5 MOTOR AC2 (V) or DC (-)

6 MOTOR AC1 (U) or DC (+)

Output to motor

Phase #3 terminal for brushless motors or motors with index coded commutation

Phase W for Panasonic A and S series motors

Not connected for brush motors

Output to motor

Phase #2 terminal for brushless motors or motors with index coded commutation

Phase V for Panasonic A and S series motors

Negative terminal for brush motors

Output to motor

Phase #1 terminal for brushless motors or motors with index coded commutation

Phase U for Panasonic A and S series motors

Positive terminal for brush motors

*

POWER GND and GND are electrically connected. Drive Case is isolated from Drive circuitry and can be grounded externally.

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

CN2 – I/O CONTROL

PIN SIGNAL DESCRIPTION

Stop input (disable servo amplifier) 1 STP IN

2 GND*

3 LIMIT 1 (REVERSE)

4 GND*

Over travel input

5 LIMIT 2 (FORWARD)

6 GND*

7 BRAKE OUT

Over travel input.

Brake output. Open collector output 48V/0.3A.

CN3 – ENCODER AND COMMUTATOR

PIN SIGNAL DESCRIPTION

1 GND*

2 Z

3 A

4 +5V**

5 B

6 +5V**

7

8

9

S1

-A

-A

S2

-B

-B

S3

-Z

+RX

10 GND*

CN4 – NETWORK OUT (SLAVE)

PIN SIGNAL

1 N.C.

2 GND*

Encoder phase A

Encoder power supply

Encoder phase B

Commutator power supply

Hall sensor input #1 for brushless motors

Encoder phase –A for DC brush motors with differential encoder or motors with index coded commutation

Encoder phase –A for Panasonic A and S series motors

Hall sensor input #2 for brushless motors

Encoder phase –B for DC brush motors with differential encoder or motors with index coded commutation

Encoder phase –B for Panasonic A and S series motors

Hall sensor input #3 for brushless motors

Encoder phase –Z for DC brush motors with differential encoder or motors with index coded commutation

Hall data for Panasonic A and S series motors

DESCRIPTION

3

4

5

+TX

-TX

-RX

(+) Transmit data

(-) Transmit data

(-) Receive data

6

7

8

+RX

-A out

+A out

CN5 – NETWORK IN (HOST)

PIN SIGNAL

(+) Receive data

(-) Address output

(+) Address output

RS-232 adapter power supply

4

5

6

1 +5V**

2 GND*

3 +TX

7

8

-TX

-RX

+RX

-A in

+A in

(+) Transmit data

(-) Transmit data

(-) Receive data

(+) Receive data

(-) Address input

(+) Address input

DESCRIPTION

** 200mA Max current for all three outputs combined.

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Logosol AC/DC Intelligent Servo Drive LS-173E

SAMPLE APPLICATION using Brushless motor

Doc # 712173008 / Rev. F, 12/16/2009

SAMPLE APPLICATION using Brushless motor with commutating encoder

Logosol, Inc.

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

SAMPLE APPLICATION using DC (brush) motor with single ended encoder

SAMPLE APPLICATION using DC (brush) motor with differential encoder

Logosol, Inc.

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

SAMPLE APPLICATION using Panasonic A and S series motor

SAMPLE APPLICATION using motor with index coded commutation

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

EXTENSION CABLES for Panasonic A and S series motors

PIN#

1

2

3

ENCODER MATING CONNECTOR

(AMP CAP 172163-1)

+ 8 pins 170365-1

SIGNAL NAME

+ A channel output

- A channel output

+ B channel output

PIN#

3

7

5

LS-173/4P ENCODER AND

COMMUTATOR CONNECTOR

(MOLEX 22-01-3107)

+ 9 pins 08-50-0114

4

5

- B channel output

+ Z channel output

8

2

6 N.C.

7 N.C.

SIGNAL NAME

+A

-A

+B

-B

+Z

8 N.C.

9 N.C.

10 N.C.

11 +RX 9 RX+

12 N.C.

13 +5V 4 +5V

14 0V 1 GND

MOTOR MATING CONNECTOR

(AMP CAP 172159-1)

PIN#

1

2

3

+ 3 pin 170366-1

SIGNAL NAME

U phase

V phase

W phase

4 N.C.

LS-173/4P MOTOR CONNECTOR

(PHOENIX CONTACT MSTB2.5/6-ST-5.08)

PIN#

6

5

4

SIGNAL NAME

MOTOR U

MOTOR V

MOTOR W

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Logosol AC/DC Intelligent Servo Drive LS-173E

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PANASONIC A AND S SERIES MOTORS WIRING DIAGRAM

ENCODER CONNECTOR

PIN#

1

2

3

4

5

6

SIGNAL NAME

+ A channel output

- A channel output

+ B channel output

- B channel output

+ Z channel output

- Z channel output

7 NC

8 NC

9 NC

10 NC

WIRE COLOR

Red

Pink

Green

Blue

Yellow

Orange

NA

NA

NA

NA

12 -RX Purple

13 +5V White

14 0V Black

15 FG = motor frame Black

MOTOR CONNECTOR

PIN# SIGNAL NAME WIRE COLOR

Red

2 V White

3 W Black

4 E = motor frame Green/yellow

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

LOGOSOL LS-173E QUICK START GUIDE

Hardware Setup

1. Connect power supply (12 to 90 V DC) to LS-173E.

2. Connect your motor, encoder, Hall sensors and any other I/O you may have.

3. Connect RS-232 adapter and RJ-45 network cable between LS-173E and your host computer.

Software Installation

1. Installation and using Logosol Distributed Control Network Utility

A. Installation

1. Insert the Logosol Distributed Control Network Utility installation disk into the floppy drive.

2. Select Run from the Windows 95/98/NT/XP Start menu.

3. Type a:\dcnsetup and then click OK (a: represents the drive letter).

4. The installation wizard will guide you through the setup process.

B. Initial Connection to the Host

1. Turn on the power supply.

2. Run the Logosol Distributed Control Network Utility.

3. Choose the proper COM port

4. Click “SERVO” button.

5. 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.

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

LS-173E ARCHITECTURE

Overview

The LS-173E Intelligent Servo Drive is a highly integrated servo control module including a motion controller, servo amplifier, serial communication 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).

Functional Diagram

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Logosol AC/DC Intelligent Servo Drive LS-173E

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Encoder Input

The encoder interface accepts two square wave inputs, A, B (+A, -A, +B, -B for differential encoders) from an incremental encoder. Ideally, these square waves are 50% duty cycle and exactly +/-90 degrees out of phase. 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.

Encoder signal waveforms (CW direction)

Some incremental encoders are equipped with Index output Z (+Z and -Z for differential encoders). In order to make possible to capture Home position on Index the velocity during homing procedure have to guarantee index pulse longer then 512uS. The maximum theoretical homing velocity is one encoder count per servo tick (refer to “Set Homing Mode” command in

“Command description” section in this document).

Index signal waveform

Multifunctional Inputs

To set the functions of pins 7, 8, 9 of ENCODER AND COMMUTATOR connector use the table*:

MODE SW 1 MODE SW-2

ENCODER AND COMMUTATOR – CN3

PIN 7 PIN 8

Hall input

PIN 9

Hall input

S1

-A

-A

-A

S2

Encoder phase

-B

Encoder phase

-B

Encoder phase

-B

S3

Encoder phase

-Z

Commutation data +RX

Encoder phase

-Z

MOTOR TYPE

Brushless or brush motor with single ended encoder

Brush motor with differential encoder

Panasonic A or S series motor

Brushless motor with index coded commutation

All ENCODER AND COMMUTATOR (CN3)

inputs are equipped with pull-up resistors 2K2 to +5V.

+5V

2K2

ENCODER AND COMMUTATOR -CN3

INPUTS

* Refer also to Sample Applications in this document.

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

Digital Inputs

There are 3 digital inputs - STP IN, LIMIT 1 (REVERSE) and LIMIT 2 (FORWARD). STP IN may 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 are with pull-up resistors 4K7 to +5V.

+5V

4K7

33K

STP IN, LIMIT 1, LIMIT 2

0.1uF

Limit Switches and Stop Input

Brake Output

Brake is released (brake output is “on”) when Power_on (bit3 of Status byte) and Pic_ae (bit0 of

Stop command data byte) are set to 1.

Brake Output

Brake will be engaged (Brake output is “off”) if:

- STP IN is open;

- Overvoltage;

Overcurrent;

- Overheat;

- Position error exceeds the 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. If Power Driver is OK, brake will

be released after Pic_ae 0 to 1 transition.

Dip Switches

Dip switches are used for overcurrent limit setting, mode select and terminator control.

Two of the switches, T-in and T-out, are used for connecting terminators to receive and transmit lines.

The overcurrent limit can be set using A, B, C, and D switches (refer to Overcurrent DIP Switch

Settings... of Safety Features section in this document).

LS-173E can be configured for different motor types using Mode Sw.1 and Mode Sw. 2. To select the appropriate setting, refer to Sample applications and Encoder and Commutator inputs sections in this document.

Serial Command Interface

Serial communication with the LS-173E 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-173E also supports a full-duplex multi-drop RS-

485 interface that allows multiple LS-173E intelligent servo drives to be controlled over a single

RS-485 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.

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

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-173E slave. The data are stored in the buffer of the LS-173E 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 following:

Header byte (0xAA)

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

0-16 optional bytes of status data

Checksum byte

The status byte contains basic status information about the LS-173E, 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. All 16-bit and 32-bit data is send with the least significant byte first.

Servo Driver Serial Interface

Addressing

Rather than having to hard-wire or switch-select the address of each LS-173E servo drive, the host dynamically sets the address of each LS-173E with the aid of the daisy-chained “A in” and

“A out” lines. This allows additional LS-173E controllers to be added to an RS-485 network with no hardware changes. On power-up, “A in” of the first LS-173E is pulled low, its communication is enabled and the default address is 0x00. When the Set Address command is issued to give

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009 this LS-173E 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. See Initializing procedure and programming examples for LS-173E later in this document.

Group Addresses

In addition to the individual address, each controller has a secondary group address. Several

LS-173E 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-173E 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. When 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.

Multiple Controller Configuration

Communication Rate

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-173E uses a “proportional-integral-derivative”, or PID filter. The PWM signal is a square wave with 51.2µsec (LS-173E) or 25.6µsec (LS-173E4) period and varying duty cycle. A PWM value of

1023 corresponds to 100% and a value of 0 corresponds to 0%. Usually, PWM value greater than 1000 is not recommended. The position, velocity and acceleration are programmed as 32bit 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 the actual programmed velocity would be 1.024 x 2

16

or

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

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 counts/tick/tick; with the lower 16 bits the fractional component, this would be programmed as 0.0021 x 2

16

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. A PWM value of 255 corresponds to 100% and a value of 0 corresponds to 0%. 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-173E 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-173E drives the motor as brush (DC) type. The positive motor lead should be connected to “MOTOR AC1 (U) or DC+” terminal and negative to “MOTOR AC2 (V) or DC-“ terminal of “MOTOR AND POWER” connector. If Hall sensors are detected, LS-173E performs commutation according to their state.

Often, connecting the brushless motor phases is difficult because of the different terms and signal names, which different manufactures are using. Here is a simple procedure that may be used.

Connect the motor commutation sensors to LS-173E “ENCODER AND COMMUTATOR” connector according to the next table with most common manufacture signal names.

LS-173E Encoder & Sensor Connector signal Motor manufacture signal name

S2 S V B S2

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 (U) or DC+”, “MOTOR

AC2 (V) or DC-“, “MOTOR AC3 (W) or NC” of LS-173E “MOTOR AND POWER” connector using the same order as for the commutation sensors. Power on LS-173E. Initialize the controller.

Rotate motor shaft CW (ClockWise) by hand and check if the motor position is increasing. If motor position is not changing or it is decreasing, check 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 (CCW) 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 A and B phase wires.

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Logosol AC/DC Intelligent Servo Drive LS-173E

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STATUS and SAFETY features

To protect both the user device and the controller, LS-173E is equipped with various safety features.

STP IN – Stop Input

For normal operation STP IN signal must be LOW (closed). 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-173E is protected against power supply under/overvoltage. In case the power supply is below

12V hardware reset is generated. More then 91V will disable the Power Driver and set status byte bit 3 (Power_on) to zero.

Overcurrent Protection

A protection circuit monitors the output current of the motor and limit to a value set by dipswitch.

If the motor is overloaded for less than 100 ms, the output current is limited to the selected level.

Power Driver will be disabled if the motor is overloaded for more then 100 ms. To set CL (current limit) use the table:

Overcurrent DIP Switch Settings for:

LS-173E-1210, LS-173E4-1210

/

LS-173E-2010, LS-173E4-2010

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-173E-1210

LS-173E4-1210

1.0A 2.0A 4.0A 6.0A 8.0A

LS-173E-2010

LS-173E4-2010

1.7A 3.4A 6.7A 10.0A 13.5A

A/D value and CL (Current Limit parameter of Set Gain command) may be used for current limit control. CL 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 output value; PWMcalc is motion command calculated value; PWMadj

(0<PWMadj

≤PWMcalc) is 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. CL is in the range of 0 ÷ 255 and only odd values must be used.

If A/D>CL for more than 200ms the Power Driver will be disabled (refer to Status Bits and LED section of this document).

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System Status

Stop Motor command - refer to Stop motor command (page 24):

Bit 0Pic_ae.

Auxiliary Status byte diagnostic bits - refer to Read status command (page 22) and Status byte and

Auxiliary status byte definitions (page 27):

Bit 0 – Index;

Bit 2 – Servo_on.

Status byte diagnostic bits - refer to Read status command (page 22) and Status byte and Auxiliary

status byte definitions (page 27):

Bit 3 – Power_on;

Bit 4 – Pos_error;

Bit 5 – Limit 1 (Reverse);

Bit 6 – Limit 2 (Forward).

Diagnostic bits

Status

Bit 6

Limit 2

Status

Bit 5

Limit 1

Status

Bit 4

Pos_error

Status

Bit 3

Power_on

Auxiliary

Bit 2

Servo_on

Auxiliary

Bit 0

Index

Stop Cmd

Bit 0

Pic_ae

CONDITION

LS-173E with

Orange and

LS-173E with

Green LEDs RED LED

BRAKE

OUT

1 1 X

For limit Rev limit 0*

1

1

0

1

0

1

Encoder

0 Servo OFF, Power Driver OFF

1

Servo ON, Power Driver ON

Servo OFF, Power Driver ON

Orange

Green

Low intensity

High intensity

Off

On

Orange

Low intensity

Off

1 0 1 0 0 0 1 Encoder error* - differential encoder modes

*To restore the normal operation:

- Set to 0 Pic_ae (Stop motor command, page 24);

- If there is no more fault condition Power_on (Status Byte Bit 3, page 27) will be set to 1;

-

To turn servo ON set Pic_ae to 1 (Stop motor command, page 24).

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 (0.512msec 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 disabled 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 clear;

In the auxiliary status byte, the pos_wrap, servo_on, accel_done, slew_done and

servo_overrun flags will be cleared.

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COMMAND SPECIFICATION

List of Commands

Command CMD

Code

#

Data bytes

Description While

Reset position 0x0

Set address

Define status

Read status

0x1

0x2

0x3

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

Load trajectory 0x4 1-14 Loads motion trajectory parameters

Start motion 0x5 0 Executes the previously loaded trajectory

Set gain

Stop motor

0x6

0x7

14

1

Sets the PID gains and operating limits

Stops the motor in one of three manners

I/O control

Set home mode

0x8

0x9

Set baud rate 0xA

Clear bits 0xB

1 Sets the direction and values of the LIMIT pins

1 Sets conditions for capturing the home position

1

0

Sets the baud rate (group command only)

Clears the sticky status bits

Save as home 0xC

Nop

Nop

Hard reset

0xD

0xE

0xF

0 Saves the current position in the home position register

0 Simply causes the defined status data to be returned

0 Simply causes the defined status data to be returned

0 Resets the controller to its power-up state.

Moving?

No

Yes

Yes

Yes

Maybe*

Maybe**

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

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.

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.

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Set Address

Command value:

Number of data bytes:

Command byte:

Data bytes:

1.

2.

Description:

0x1

2

0x21

Individual address: 0x01-0x7F (initial address 0x00)

Group Address: 0x80-0xFF (initial value 0xFF)

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 module 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 default to being a group member.) 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 the it’s “A out” signal.

Define Status

Command value:

Number of data bytes:

0x2

1

Command byte: 0x12

Data bytes:

1. Status items: (default: 0x00)

Bit 0:

1: send position (4 bytes) send A/D value (1 byte)

2:

3:

4:

5: send actual velocity (2 bytes - no fractional component) send auxiliary status byte (1 byte) send home position (4 bytes) send device ID and version number (2 bytes)

(First byte - motor controller device ID = 0,

6:

Second byte - version number =50 to 59 (decimal)) send current position error (2 bytes)

7: don’t

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 aux. 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.

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Logosol AC/DC Intelligent Servo Drive LS-173E

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Read Status

Command value:

Number of data bytes: 1

Command byte:

Data bytes:

1.Status items

:

Bit 0:

1:

2:

3:

4:

5:

6:

0x3

0x13 send position (4 bytes) send A/D value (1 byte) send actual velocity (2 bytes - no fractional component) send auxiliary status byte (1 byte) send home position (4 bytes) send device ID, version number (2 bytes)

First byte - motor controller device ID = 0,

Second byte - version number =50 to 59 (decimal)) send current position error (2 bytes)

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:

Number of data bytes:

Command byte:

Data bytes:

0x4 n = 1-14

0xn4

1.Control byte:

Bit 0: load position data (n = n + 4 bytes)

1:

2: load velocity data (n = n + 4 bytes) load acceleration data (n = n + 4 bytes)

3:

4:

5:

6:

7:

Description:

load PWM value (n = n + 1 bytes) servo mode - 0 = PWM mode, 1 = position servo profile mode - 0 = trapezoidal profile, 1 = velocity profile velocity/PWM direction - 0 = FWD, 1 = REV start motion now

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 if the PWM mode should be entered. Bit 5 specifies whether a trapezoidal profile motion should be initiated or if the velocity profiler is used. Trapezoidal profile motions should only be initialized when the

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009 motor velocity is 0. (Bit 0 of the status byte indicates when a trapezoidal profile motion has been completed, 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 load only 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 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.

* While the position may range from -0x7FFFFFFF to +0x7FFFFFFF, the goal position should not differ from the current position by more then 0x7FFFFFFF.

Start Motion

Command value:

Number of data bytes: 0

Command byte:

0x5

0x05

Description:

Causes the trajectory information loaded with the most recent Load Trajectory command to execute. This is useful for loading several Drives with trajectory information and then starting them simultaneously with a group command.

Set Gain

Command value:

Number of data bytes: 14

Command byte:

Data bytes:

0x6

0xE6

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 gives a servo rate of 651 Hz. The servo

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Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009 tick rate is also used as the profiling timebase, although command processing and current limiting are always performed at the maximum tick rate. Sometimes it is necessary to compensate 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.

Stop Motor

Command value: 0x7

Number of data bytes: 1 or 5

Command byte:

Data bytes:

1. Stop control byte

0x17 or 0x57

Bit 0: Pic_ae (Power Driver enable)

1: Turn motor off

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 (Limit 1 (Reverse)), and bit 6

(Limit 2 (Forward)) 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 are 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.

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Logosol AC/DC Intelligent Servo Drive LS-173E

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I/O Control

Command value:

Number of data bytes: 1

Command byte:

Data bytes:

0x8

0x18

1. I/O control byte

Bit 0: Output value of Limit 1 (not used)

1:

2:

Output value of Limit 2 (not used)

Direction of Limit 1 (Reverse) (must be set to 1 = input)

3: Direction of Limit 2 (Forward) (must be set to 1 = input)

4-7: Don’t

Description:

After power-up Limit 1 (Reverse) and Limit 2 (Forward) inputs.

Set Homing Mode

Command value:

Number of data bytes: 1

0x9

Command byte:

Data bytes:

1. Homing control byte

Bit 0:

1:

0x19

Capture home position on change of Limit 1 (Reverse)

Capture home position on change of Limit 2 (Forward)

2

3:

4:

Turn motor off on home

Capture home on change of Index

Stop abruptly on home

5:

6:

7:

Stop smoothly on home

Capture home position when an excess position error occurs

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 then 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:

Number of data bytes: 1

Command byte:

Data bytes:

1. Baud rate divisor,

0xA

0x1A

sample values:

9600

19200

BRD = 0x81

BRD = 0x3F

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Description:

Sets the communication baud rate. All 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.

Clear Sticky Bits

Command value:

Number of data bytes: 0

0xB

Command byte:

Description:

0x0B

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:

Number of data bytes: 0

0xC

Command byte:

Description:

0x0C

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

No Operation

Command value:

Number of data bytes: 0

Command byte:

Description:

0xD or 0xE

0x0D or 0x0E

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

0xF

Command byte:

Description:

0x0F

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.

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Logosol AC/DC Intelligent Servo Drive LS-173E

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STATUS BYTE AND AUXILIARY STATUS BYTE DEFINITIONS

Status Byte

0

1

Move_done

Cksum_error

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

Set if there was a checksum error in the just received

2

3

5

4

2

3

4

5

6

7

Current_limit Set if current limiting has exceeded (refer to Motor Current

Monitoring section in this document). Must be cleared by user with Clear Sticky Bits command

Power_on/diag. bit Refer to Status Bits and LED section in this document

Pos_error Set if the position error has exceeded the position error limit. It is also set whenever the position servo is disabled. Must be cleared by user with Clear Sticky

Bits command

Limit 1 (Reverse) / Reverse Limit or diagnostic bit (refer to Status Bits and LED diag. bit section in this document).

Limit 2 (Forward) / Forward Limit or diagnostic bit (refer to Status Bits and LED diag. bit section in this document).

Auxiliary Status Byte

zero once the home position has been captured

Bit Name

0 Index/diag. bit

1 Pos_wrap

Compliment of the value of the index input or diagnostic bit

(refer to Status Bits and LED section in this document).

Set if the 32-bit position counter wraps around.

Servo_on

Accel_done

Slew_done

Servo_overrun

Set if the position servo is enabled, clear otherwise

Set when the initial acceleration phase of a trapezoidal profile move is completed. Cleared when next 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

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INITIALIZING PROCEDURE AND PROGRAMMING EXAMPLES FOR SERVO DRIVES

To ensure a proper operation of all Servo drives connected to the network, the following initializing steps should be executed:

1. Reset all modules with 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 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).

Understanding the Serial Communication with Servo drives

The Serial Communication with Servo drives is strictly master-slave and matches repeatedly two elements:

- Sending a command to the specified drive’s address;

- Receiving answer to the sent command – Status Byte(s).

Note: During the communication all bytes are sent with LSB first.

Commands

There are 16 commands managing Servo drives (refer to 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 Byte 2 Byte 3 Byte 4 Byte 5

Header Address

(Individual or

Group)

Command Code

High 4 bits

No. of data bytes

Low 4 bits command

code

AA 01 1 3

Examples

Cmd. Bytes Byte 1

Command Header

Byte 2

Address

Byte 3

Cmd. Code

Data Byte

01

Byte 4 – N

Data Byte(s)

CheckSum =

Byte 2 + Byte 3 +

Data Byte

15

Byte N+1

Checksum

Reset position

Define status

Set address

Load trajectory

Set gain

AA

AA

AA

AA

AA

01

05

01

01

01

0 0

1 2

2 1

5 4

E 6

05

07 FF

91 00 28 00 00

64 00 00 04 00 00 00 00 FF

00 00 08 01 00

01

1C

21

0E

57

Status Data

The structure of the returned status information depends on Define Status or Read Status commands (refer to Command Description). By default only the Status byte and Checksum are returned to the host.

Examples

Byte 1 Optional Bytes 0-16

Status Byte Additional Status Bytes as position, velocity, home position, A/D auxiliary byte, version and position error.

09

09 no additional status bytes requested

00 28 00 00 – four additional status bytes

CheckSum

CheckSum = Byte 1+ Optional Bytes

09

31

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Logosol AC/DC Intelligent Servo Drive LS-173E

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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 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 Byte 2 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. t s e p

Example of sequential addressing for three Servo drives

address

Hexadecimal

Code

Drive 1

Individual address

Group address

Drive 2

Individual address

Group address

Drive 3

Individual address

Group address

0 Power-up

1 Hard Reset AA FF 0F 0E

2 Set Address

Drive1 = 01

AA 00 21 01 FF 21

3 Set Address

Drive2 = 02

AA 00 21 02 FF 22 address=00 communication

enabled

01 FF

01 FF address=00 communication

disabled address=00 communication

enabled

02 FF

address=00 communication

disabled address=00 communication

disabled

address=00 communication

enabled

03 FF 4 Set Address

Drive3 = 03

AA 00 21 03 FF 23 01 FF 02 FF

Note: Before start addressing Hard Reset command must be issued.

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Logosol AC/DC Intelligent Servo Drive LS-173E

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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 LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

Examples of Managing Two Servo-Drives

# 1 – Resets all modules with group command.

# 2 and # 3 - Set the addresses of drives 1 and 2.

# 4 and # 6 - 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

Comments

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

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.

6 AA 01 E4 9F 00 00 00 00 00

00 00 00 01 00 00 00 00 85

7 AA 02 E4 9F 00 00 00 00 00

00 00 00 01 00 00 00 00 86

8 AA 01 17 05 1D

9 AA 02 17 05 1E

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.

10 AA 01 E4 9F 00 00 00 00 00

80 01 00 64 00 00 00 00 69

11 AA 02 E4 9F 00 00 00 00 00

80 01 00 64 00 00 00 00 6A

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.

12 AA 01 54 11 00 28 00 00 8E Load Trajectory of drive 1 with new position=2800h.

13 AA 01 05 06 Start Motion - executes previously loaded trajectory.

14 AA 01 13 05 19 Read Status from drive 1 (plus position and velocity).

15 AA 02 13 05 1A Read Status from drive 2 (plus position and velocity).

16 AA 01 54 11 20 4E 00 00 D4 Load Trajectory of drive 1 with new position=4E20h.

17 AA 02 54 11 E0 B1 FF FF F6 Load Trajectory of drive 2 with new position=FFFFB1E0h (-4E20h).

18 AA FF 05 04 Start Motion – executes previously loaded trajectories.

The command is sent to the drives’ group address FFh.

Logosol, Inc.

1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 31

Logosol AC/DC Intelligent Servo Drive LS-173E

Doc # 712173008 / Rev. F, 12/16/2009

Procedure Initialize

AA FF 0F 0E

AA 00 21 01 FF 21

AA 00 21 02 FF 22

AA 01 13 20 34

AA 01 13 FF 13

AA 01 E6 64 00 00 04 00 00 00 00

FF 00 00 08 01 00 57

AA 01 E4 9F 00 00 00 00 00 00 00

00 01 00 00 00 00 85

AA 01 17 05 1D

Hard reset

Set address

Search for more modules until no response received

Read Device ID and Version number

Read all status data

Set Gain parameters

Set Trajectory parameters

Close servo loop

Procedure FindHomePosition

AA 01 E6 C8 00 20 03 46 00 28 00

FF 00 40 1F 01 00 9F

AA 01 17 09 21

Set gain parameters: KP=200, KD=800, KI=70,

IL=40, Output limit=255, current limit =0, Position error limit=8000, Servo rate divisor=1 amplifier deadband compensation=0

Close the servo loop (Stop smoothly and amplifier enable)

AA 01 94 37 25 06 01 00 58 01 00

00 51

Load trajectory: Velocity mode, Forward direction,

Velocity=1 round per second (67109 programmed velocity for 500 line encoder), Acceleration = 10 round per second

2

(344 programmed acceleration for 500 line encoder)

AA 01 19 12 2C

AA 01 05 06

Set home mode - capture home position on change of Forward Limit and stop abruptly

Start motion wait while home_in_progress bit=1 Home position is found on change of Forward Limit

AA 01 19 18 32

AA 01 94 77 25 06 01 00 58 01 00

00 91

Set home mode - capture home position on change of Index and stop abruptly

Load trajectory: Velocity mode, Reverse direction

AA 01 05 06 Start 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 revolutions per second) x 33.554432

Acc = (encoder counts per revolution) x (number of revolutions per second

2

) x 0.017179869184

For this example:

Vel = 2000 x 1 x 33.554432 = 67109

Acc = 2000 x 10 x 0.017179869184 = 344

= 00010625h

= 00000158h

Logosol, Inc.

1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 32

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