User manual | Logosol AC/DC Intelligent Servo Drive for Coordinated Motion

Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
Features
q
Motors supported:
- Brushless 60/120° commutated (AC)
- Brush-commutated (DC)
q
12A peak, 8A continuous output current
q
12 to 90V single power supply
q
Path point buffer for coordinated motion
control
q
30/60/120 Hz rate between the points
q
Absolute and relative moves
q
32-bit position, velocity, acceleration,
16-bit PID filter gain values
Description
q
Comprehensive motor output short-circuit
protection:
- Output to output
- Output to ground
- Output to power
q
Adjustable motor current limit
q
Over/under voltage shutdown
q
Overheating protection
q
Emergency stop input
q
Forward and reverse overtravel inputs
q
Communication speed 19.2 - 115.2 KBps
q
Servo rate 2 kHz
q
PWM frequency 20 kHz
LS-174 is an enhanced version of the standard LS173 Servo Drive, augmented with special features
for supporting the coordinated motion of several
motors. LS-174 is a single-axis motion controller with
integrated servo amplifier designed for applications
using brushless (AC) or brush-commutated (DC)
motors up to 1 HP. No jumpers or setup is required
to switch between both types of motors. 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-174 is equipped with various safety features such
as short circuit protection for the motor and amplifier,
over travel limit switch inputs, emergency stop input,
over and under voltage shutdown. The maximum
motor output current can be limited by setting of
dipswitches.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
TECHNICAL SPECIFICATIONS rated at 25oC ambient, POWER (+)=60VDC, Load=250µ
µH motor
POWER SUPPLY VOLTAGE
MAX MOTOR OUTPUT CURRENT
Peak
Continuous
MAX MOTOR OUTPUT VOLTAGE
MIN LOAD INDUCTANCE
PWM SWITCHING FREQUENCY
SERVO RATE
SERIAL BAUD RATE
OPTIONAL OPEN COLLECTOR BRAKE
OUTPUT
Max voltage applied to output
Max current load
INPUTS
Encoder & Commutation
Digital Inputs
ENCODER
COMMUTATION
INDICATORS
Red LED (two intensity levels)
PROTECTION
Short circuit
Overheating shut off
FIRE-SAFETY
Internal fuse
POWER DISSIPATION (max)
THERMAL REQUIREMENTS
Storage temperature range
Operating temperature range
MECHANICAL
Size
Weight
MATING CONNECTORS
Power & Motor
Inputs & Outputs
Encoder & Commutator
Communication
12 to 90 V DC, 100V Absolute Maximum
12A
8A
Vout= 0.96(POWER (+)) – 0.17(Iout)
200µH
19,512 KHz
0.512 msec
19.2 – 115.2 Kbps
(faster communication rates are possible at lower servo rates)
48V
0.3A
TTL with 1K pull-up to 5V
LOmin=-1V, HImax=48V
Quadrature with index
o
Hall sensors 60/120
Power ‘ok’ – low intensity
Servo ‘ok’ – high intensity
Motor output to motor output
Motor output to POWER GND
Motor output to POWER (+)
o
Activated at 80 C
10A Quick blow
30W
o
–30 to +85 C
o
0 to 45 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. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
DIMENSIONAL DRAWING
SERVO DRIVE LAYOUT
ORDERING GUIDE
PART NUMBER
912174001
230601004
MODEL
LS-174
LS-173-CN
DESCRIPTION
Intelligent Servo Drive with brake
Mating connector kit
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
CONNECTORS AND PINOUT
DIP SW – DIP SWITCH
SW
SIGNAL
1
T-out
2
T-in
3
CL-D
4
CL-C
5
CL-B
6
CL-A
7
SW1
8
SW2
DESCRIPTION
Transmit line terminator
Receive line terminator
Current limit switch
Current limit switch
Current limit switch
Current limit switch
Reserved (must be set to ON)
Reserved (must be set to ON)
CN1 – POWER AND MOTOR CONNECTOR
PIN
SIGNAL
1
POWER (+)
2
POWER GND*
3
POWER GND*
4
AC3 or NC
5
AC2 or DC (-)
6
AC1 or DC (+)
FACTORY SETTING
OFF
OFF
OFF
ON
ON
ON
ON
ON
DESCRIPTION
12 – 90V 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
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
CN2 – I/O CONTROL
PIN
1
2
3
4
5
6
7
SIGNAL
STP IN
GND*
REVERSE LIMIT
GND*
FORWARD LIMIT
GND*
BRAKE OUT
DESCRIPTION
Stop input (disable servo amplifier)
Signal ground
Reverse limit input
Signal ground
Forward limit input
Signal ground
Brake output (optional). Open collector output
48V/0.3A
CN3 – ENCODER AND COMMUTATOR
PIN
SIGNAL
1
GND*
2
ENCODER Z
3
ENCODER A
4
+5V
5
ENCODER B
6
+5V
7
COMMUTATOR S1
8
COMMUTATOR S2
9
COMMUTATOR S3
10
GND*
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
CN4 – NETWORK OUT (SLAVE)
PIN
SIGNAL
1
N.C.
2
GND*
3
+TX
4
-TX
5
-RX
6
+RX
7
-A out
8
+A out
DESCRIPTION
Not connected
Interface ground
(+) Transmit data
(-) Transmit data
(-) Receive data
(+) Receive data
(-) Address output
(+) Address output
CN5 – NETWORK IN (HOST)
PIN
SIGNAL
1
+5V
2
GND*
3
+TX
4
-TX
5
-RX
6
+RX
7
-A in
8
+A in
DESCRIPTION
RS-232 adapter power supply
Interface ground
(+) Transmit data
(-) Transmit data
(-) Receive data
(+) Receive data
(-) Address input
(+) Address input
* POWER GND and GND are electrically connected. Drive Case is isolated from drive circuitry and can be
grounded externally.
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
SAMPLE APPLICATION using AC (brushless) motor
SAMPLE APPLICATION using DC (brush) motor
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
LOGOSOL LS-174 QUICK START GUIDE
Hardware Setup
1.
2.
3.
Connect power supply (12 to 90 V DC) to LS-174.
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-174 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 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.
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
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.
2. Installation and using Logosol Motion Control Center
A. Installation
1. Insert the Logosol Motion Control Center installation disk into the floppy drive.
2. Select Run from the Windows 95/98/NT Start menu.
3. Type a:\mccsetup 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 Motion Control Center software.
3. From the Connection menu select Terminal. This will open a terminal window. From the
Target pull-down list select either RS-485-COM1 or RS-485-COM2 corresponding to the one
used to communicate with LS-174. Press the Return key to verify that the connection is
established and the command prompt (>) appears on the terminal window.
4. Type INI at the command prompt followed by Return to initialize the controller. It may take few
seconds to complete the process.
5. Type KP A1=20 to set the proportional coefficient, then set the velocity, acceleration and error
limit
by
the
following
commands:
VEL
A1=100,
ACC
A1=1000
and
MAX A1=8000.
6. Type SER to close the servo loop, then FOR A1 to instruct the controller to rotate the motor
forward. Type GO A1 to initiate the motion. The motor should rotate slowly in positive
direction. Type STO to interrupt the motion and refer to the following MCL* Terminal
Interpreter Command Set for executing various motion commands and parameters settings.
*
The information about MCL Terminal Interpreter command set is also available in MCC Help Menu Index
(Advanced Features /Command set for Distributed Servo Drive maintenance).
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
MCL TERMINAL INTERPRETER COMMAND SET
The following commands are available from the Terminal prompt:
POS – returns and sets current position:
1)
"POS"
returns the positions of all the axes;
2)
"POS A1"
returns the position of axis A1;
3)
"POS A1=Y" sets the position of axis A1 to the specified value Y.
MAX – returns and sets maximal error (the difference between calculated and real positions):
1)
“MAX”
returns the maximal errors of all the axes;
2)
“MAX A1”
returns the maximal error of axis A1;
3)
“MAX A1=Y” sets the error limit of axis A1 to the specified value 0<Y<16383.
VEL – returns and sets velocity in velocity mode or goal velocity in trapezoidal mode:
1)
“VEL”
returns the velocities of all the axes;
2)
“VEL A1”
returns the velocity of axis A1;
3)
“VEL A1=Y” sets the velocity of axis A1 to the specified value Y.
ACC – returns and sets acceleration:
1)
“ACC”
returns the accelerations of all the axes;
2)
“ACC A1”
returns the acceleration of axis A1;
3)
“ACC A1=Y” sets the acceleration of axis A1 to the specified value Y.
XST – displays status information:
1)
“XST”
displays status info for all the modules in the network;
2)
“XST A1”
displays status info for module A1.
Status information for module LS-174 includes:
1)
Address
2)
Status byte
3)
Auxiliary status byte
4)
Encoder position
5)
Device ID
6)
Version number
7)
ADC value.
STA – displays MCL compatible status:
1)
“STA”
returns MCL compatible status of all the axes;
2)
“STA A1”
returns MCL compatible status of axis A1.
Note: Status
00000400 - position reached;
00000080 - servo off.
INI – resets the network and assigns individual and group addresses.
STO – stops abruptly:
1)
“STO”
stops the movement of all the axes;
2)
“STO A1”
stops the movement of axis A1.
HAL – stops smoothly with specified acceleration:
1)
“HAL”
stops the movement of all the axes;
2)
“HAL A1”
stops the movement of axis A1.
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
KP – returns and sets proportional PID filter parameter:
1)
“KP”
returns KP parameters for all the axes;
2)
“KP A1”
returns KP parameter for axis A1;
3)
“KP A1=Y”
sets KP of axis A1 to the specified value Y.
Note: KP is set to 0 after power-up.
KI – returns and sets integral PID filter parameter:
1)
“KI”
returns KI parameters for all the axes;
2)
“KI A1”
returns KI parameter for axis A1;
3)
“KI A1=Y”
sets KI of axis A1 to the specified value Y.
Note: KI is set to 0 after power-up.
KD – returns and sets deferential PID filter parameter:
1)
“KD”
returns KD parameters for all the axes;
2)
“KD A1”
returns KD parameter for axis A1;
3)
“KD A1=Y”
sets KD of axis A1 to the specified value Y.
Note: KD is set to 0 after power-up.
IL – returns and sets integral limit PID filter parameter:
1)
“IL”
returns IL parameters for all the axes;
2)
“IL A1”
returns IL parameter for axis A1;
3)
“IL A1=Y”
sets IL of axis A1 to the specified value Y.
Note: IL is set to 0 after power-up.
ABS – sets absolute motion position for specified axis – “ABS A1=Y”.
REL – sets relative motion position for specified axis – “REL A1=Y”.
PWM – returns and sets PWM value in range -255÷255:
1)
“PWM”
returns the PWM values of all modules.
2)
“PWM A1”
returns the PWM value of axis A1;
3)
“PWM A1=Y” sets PWM of axis A1 to value Y;
FOR – sets forward motion in velocity mode:
1)
“FOR A1”
sets the motion of axis A1 with the current speed;
2)
“FOR A1=Y” sets the motion of axis A1 with the specified speed Y.
REV – sets reverse motion in velocity mode:
1)
“REV A1”
sets the motion of axis A1 with the current speed;
2)
“REV A1=Y” sets the motion of axis A1with the specified speed Y.
GO – starts motion in previously defined mode and parameters:
1)
“GO”
starts motion of all axes;
2)
“GO A1”
starts motion of axis A1.
CLI – returns and sets current limit:
1)
“CLI”
returns the current limits of all the axes;
2)
“CLI A1=0”
disables current limit of axis A1;
3)
“CLI A1=X” sets continuous current limit of axis A1 to value X (range 0÷127).
Note: CL=2X+1. CL – current limit parameter of Set Gain command.
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
SER – enables servo:
1)
“SER”
enables servo of all connected modules;
2)
“SER A1”
enables servo of module A1.
NOS – disables servo:
1)
“NOS”
disables servo of all connected modules;
2)
“NOS A1”
disables servo of module A1.
INX – finds index:
1)
“INX A1 F”
finds index of axis A1 in forward direction;
2)
“INX A1 R”
finds index of axis A1 in reverse direction.
Note: if the motor makes more than one revolution to find index, decrease the speed.
FLS – finds limit switch:
1)
“FLS A1 F”
finds limit switch of axis A1 in forward direction;
2)
“FLS A1 R” finds limit switch of axis A1 in reverse direction.
HEX – hex command mode – sends a low-level command written in hexadecimal format. For
more information about command format refer to “Command Description” section in this
document. Start byte (AA) and checksum byte are generated by the MCL interpreter:
“HEX 01 05” sends Start Motion command (code 0x05) for module with address 1.
BDR – sets baud rate. Possible baud rate values are 9600, 19200, 57600 and 115200:
“BDR 115200” – sets baud rate to 115.2 Kbps.
Note: baud rate is set to 19.2 Kbps after power-up.
HIS – shows the history of the recently used commands, their hexadecimal codes and the
returned status packets.
EXE – executes a text file containing sequence of MCL commands:
“EXE control.dat” – executes the command sequence from “control.dat” file in current
directory.
VER – returns MCL interpreter version.
NET – displays the number and types of all modules in the network and their addresses.
BRL – releases the motor brake to enable manually positioning:
1)
“BRL”
releases the brakes of all connected modules;
2)
“BRL A1”
releases the brake of module A1.
DBC – returns and sets amplifier deadband compensation value:
1)
“DBC”
returns the deadband compensation values of all the axes;
2)
“DBC A1”
returns the deadband compensation value of axis A1;
3)
“DBC A1=Y” sets the deadband compensation value of axis A1 to the value Y.
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
11
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
LS-174 ARCHITECTURE
Overview
The LS-174 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 daisychained 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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
Encoder Input
The encoder interface accepts two square wave inputs, CH_A, CH_B and Index 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 2
µsec. With ideally formed encoder pulses, this would correspond to a 500-line encoder (2000
counts/rev) rotating at 15,000 RPM.
CW MOTOR DIRECTION
All encoder inputs are with pull-up resistors 1K to +5V.
+5V
1K
A, B, Z, S1, S2, S3
Encoder and Hall Inputs
Hall Inputs
Hall sensor inputs are placed on the same connector as encoder inputs. All hall sensors are with
pull-up resistors 1K to +5V. 60°/120° hall sensors may be used.
Digital Inputs
There are 3 digital inputs - STP IN, FORWARD LIMIT and REVERSE LIMIT. 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 1K to +5V.
+5V
1K
STP IN, F. LIMIT, R. LIMIT
Limit Switches and Stop Input
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
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;
Motor short;
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 Switch
Dip switch is used for setting overcurrent limit and terminator control (refer to “Overcurrent DIP
Switch Setting” of “Safety Features” in this document) Two of switches, T-in and T-out, are used
for connecting terminators to receive and transmit lines. SW-1 and SW-2 are factory reserved
and must be set to ON.
Serial Command Interface
Serial communication with the LS-174 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-174 also supports a full-duplex multi-drop RS-485
interface that allows multiple LS-174 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.
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-174 slave. The data are stored in the
buffer of the LS-174 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.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
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-174, 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 are sent
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-174 servo drive, the host
dynamically sets the address of each LS-174 with the aid of the daisy-chained “A in” and “A out”
lines. This allows additional LS-174 controllers to be added to an RS-485 network with no
hardware changes. On power-up, “A in” of the first LS-174 is pulled low, its communication is
enabled and the default address is 0x00. When the Set Address command is issued to give this
LS-174 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-174” later in this
document.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
Group Addresses
In addition to the individual address, each controller has a secondary group address. Several LS174 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-174 receives a command sent to its group address, it will
execute the command but will 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-174 uses a “proportional-integral-derivative”, or PID filter. The PWM signal is a square wave
with 51.2 µsec period and varying duty cycle. A 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
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 the
actual programmed velocity would be 1.024 x 216 or 67,109. An acceleration of 4 rev/sec/sec
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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(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 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-174 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-174 drives the motor as brush (DC) type. The positive motor lead should be
connected to “AC1 or DC+” terminal and negative to “AC2 or DC-“ terminal of “MOTOR AND
POWER” connector. If Hall sensors are detected, LS-174 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-174 “ENCODER AND COMMUTATOR”
connector according to the next table with most common manufacture signal names.
LS-174 Encoder & Sensor Connector 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 “AC1 or DC+”, “AC2 or DC-“, “AC3 or
NC” of LS-174 “MOTOR AND POWER” connector using the same order as for the commutation
sensors. Power on LS-174. 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 for Coordinated Motion Control LS-174
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Safety Features
To protect both the user device and the controller, LS-174 is equipped with various safety
features.
STP IN – Stop Input
For normal operation STP signal must be “low”. If it is “high” it will disable the Power Driver and
set status byte bit 3 (Power_on) to zero.
Undervoltage/Overvoltage Protection
LS-174 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
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
Motor Current
A/D value
1A
25
2A
50
4A
100
6A
150
8A
200
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
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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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).
“Logosol MCL Interpreter for LS-174” CLI command (refer to Logosol MCL Interpreter for LS-174
Intelligent Servo Drive section in this document) is provided for current limit control. To disable
the function set CL=0 of Set Gain command.
Status Bits and LED
Bit 3 (Power_on), bit 5 (Reverse Limit) and bit 6 (Forward Limit) of Status Byte* and bit 0 (Index)
of Auxiliary Status byte* are used for reading input signals and driver diagnostics as shown on
tables below.
Power Driver OFF condition (Stop command bit 0 (Pic_ae)=0)
Status byte diagnostic bits
Bit 6
Bit 5
(Forward Limit) (Reverse Limit)
1
1
0
1
0
0
0
1
Bit 3
(Power_on)
1
0
1
0
1
0
0
1
0
1
1
0
0
1
0
1
Condition
A
B
C
D
E
F
G
H
OVERVOLTAGE
STP IN ACTIVATED
OVERHEAT
A+B
A+C
B+C
A+B+C
OK CONDITION
LED intensity
Low
Low
Low
Low
Low
Low
Low
Low
Servo Drive diagnostic codes (Stop command bit 0 (Pic_ae)=0)
Status byte
Pos_error =1
71
59
39
51
31
19
11
79
*
(hex)
Pos_error =0
61
49
29
41
21
09
01
69
Fault code description
A
B
C
D
E
F
G
H
OVERVOLTAGE
STP IN ACTIVATED
OVERHEAT
A+B
A+C
B+C
A+B+C
OK CONDITION
Index
1
1
1
1
1
1
1
1
Refer to Status Byte and Auxiliary Status Byte description in “Command Description” section in this document.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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Power Driver ON condition (Pic_ae=1)
Status byte
Bit 6
(Forward Limit)
0
Bit 5
(Reverse Limit)
1
Bit 3
(Power_on)
1
Drive inputs
LED intensity
CN2 (Control)
A
1
0
1
B
0
0
1
C
1
1
1
D
FORWARD LIMIT=HIGH
REVERSE LIMIT=LOW
FORWARD LIMIT=LOW
REVERCE LIMIT=HIGH
FORWARD LIMIT=HIGH
REVERSE LIMIT=HIGH
FORWARD LIMIT=LOW
REVERSE LIMIT=LOW
High
High
High
High
Power Driver Fault condition (Pic_ae=1)
Diagnostic bits
Status byte
Bit 6
(Forward Limit)
Bit 5
(Reverse Limit)
Bit 3
(Power_on)
1
0
0
A
0
1
0
B
0
1
0
1
0
0
C
D
Condition
LED intensity
STP IN (LATCHED)
OR ENCODER ERR
MTOR SHORT* OR
OVERVOLTAGE
OVERCURRENT
OVERHEAT
Low
Low
Low
Low
Diagnostic codes
Status byte
Fault code description
51h
A
31h
11h or 15h
71h
B
C
D
STP IN
ENCODER ERROR
MOTOR SHORT* OR OVERVOLTAGE
OVERCURRENT
OVERHEAT
Index
1
0
1
1
1
Note: LED intensity follows the Brake status:
- brake - engaged <-> low intensity and brake - released <->high intensity.
To restore the normal operation, if Bit 3 (Power_on) is set to 0, Pic_ae must be cycled to
0 and 1. If there are no more fault conditions Power_on will be set to 1.
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.
*
MOTOR SHORT – output to output, output to POWER (+) or output to POWER GND.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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THEORY OF OPERATION
LS-174 can operate in two different modes – normal and advanced. In normal mode it is fully
compatible with LS-173 Servo Drive. Advanced mode is intended for coordinated motion control
and includes different enhancements.
Relative Zero Position The position counter in the LS-174 can optionally be reset relative to the last
position captured in the home position register. This relieves the user from having to calculate
goal positions relative to the home position. Please refer to the Command Specification below.
Relative Moves The LS-174 can optionally be commanded to move relative to its current command
position. This relieves the user from the additional calculations and bookkeeping otherwise
required to implement relative moves. Please refer to the Command Specification below.
Improved Index Latching The LS-174 homing function will trigger on any index pulse longer than
120 nanoseconds. Note, however, that the positions are still only updated every 512
microseconds, and that the most accurate homing will require a motor speed of less than 1
encoder count per 512 microseconds.
Coordinated motion control
LS-174 contains a path point buffer with room for 96 entries. Each entry is a goal position for the
motor. When the Servo Drive enters its special path mode, it will automatically move from one
point to the next at a user selectable rate of either 30 or 60 Hz*. The Servo Drive moves the
motor between goal points at a constant velocity such that it always arrives at the next path point
in exactly 1/30th or 1/60th of a second. When sets of path points are downloaded into multiple
controllers, and then the paths started simultaneously, the individual axes will execute their paths
with exact** synchronization.
The path point buffer has room for about 3 seconds worth of motion for a 30 Hz path and about
1.5 seconds for a 60 Hz path. Typically, the host computer downloads the first part of a path to
the LS-174 buffers and then starts the path mode. As the buffers becomes depleted, additional
path points are dynamically added while the axes are still in motion, until the path is complete.
The timing requirements for the host require that it be able to dynamically download new path
points before the path point buffers empties completely. With a path point buffer size of 1.5 or 3
seconds, even a non-real time host, such as a PC running Windows, can easily keep up with the
task of re-filling the path point buffers as needed.
The actual multi-axis paths, which are downloaded into the LS-174 path point buffers, are
calculated by the host computer. In addition to creating the geometry desired (arcs, lines, etc.),
the path should be smooth, adhering to the physical acceleration and velocity limits of the motors
being controlled. Because the host computer actually creates the paths, any path the user can
create can be executed, and paths can involve up to 31 axes. Most typically, coordinated straightline motions, 2-axis circular motions, or S-curve profiling motions are created.
Note that motions created with the path mode are independent of any acceleration or velocity
values loaded using the Load Trajectory command.
Path Accuracy
*
In “fast path” mode, the path rates can be selected as either 60 or 120 Hz. The default “slow path” mode is
more than adequate for most applications, and requires less communications overhead.
** The exactness of the synchronization is subject to crystal frequency accuracy and other timing factors
discussed later.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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The path accuracy of the LS-174 Servo Drive is more than adequate for most CNC machine
control or robot control applications. For very high speed or very high accuracy applications,
however, there are two types of path errors to consider: absolute path errors and timing errors.
Absolute Path Errors
Absolute path accuracy is the accuracy with which a series of calculated path points with straight
line segments between them matches the actual curved path desired. For example, a circle,
which is approximated by only 5 path points, will form a pentagon rather than a circle. The
maximum error between the side of the pentagon and the circle may be quite large. A larger
number of path points will produce a smaller error. In general, accuracy of an approximated path
will be a function of the number of path points used, and the radius of the curve.
Because LS-174 uses a fixed number of points per second, moving more slowly will result in a
more accurate path than moving quickly. Also, a 60 Hz path will be more accurate than a 30 Hz
path. The main advantages of using a slower path, however, are that fewer path points need to
be calculated, less data needs to be sent to the controllers, and the path point buffer will last
twice as long.
The maximum absolute path error can be approximated by the formula:
Error = R x ( 1 - cos( V / ( 2xFxR ) ) )*
where R is the radius of the curve (in inches), V is the velocity of the motion (in inches/sec), and
F is the path point frequency (30, 60 or 120 Hz). For example, a one-inch diameter circle with a
velocity of 1 inch per second and a path frequency of 30 Hz would have a maximum error of
0.00028 inches. If a frequency of 60 Hz is used, the maximum error drops to 0.000069 inches.
Timing Errors
If the timing of multiple axes is not perfectly synchronized, there will be a deviation from the
desired path from the fact that one axis will be ahead or behind in time. The exact deviation will
depend on the path geometry.
The first type of timing error results from multiple axes not starting at exactly the same time.
When a “start path” command is issued to a group of controllers, they will all start within
+/- 0.00025 seconds of one another.
The second type of timing error results from inaccuracies in the frequencies of the oscillators
running on each LS-174 controller. (If all Servo Drives are timed from the same oscillator, this
error is zero.) Typical oscillator variations (for the same operating temperature) are about 10
parts per million. Therefore, after running a path for 10 seconds, for example, the timing error
would be about +/-0.0001 seconds.
By adding both of these timing errors together, and then multiplying by the path velocity, we get
the total distance that one axis can be ahead of another axis. For a 10 second motion, while
moving at 1 inch per second, we could have one axis moving ahead of another by at most
0.00035 inches. The actual worst case deviation (moving along a 45 degree angle) will produce
an error from the ideal path of 0.00025 inches. Over a total distance of 10 inches traveled, this
gives a basic accuracy of ±0.000025 inches per inch of travel. Other examples, of course, will
produce different accuracy figures.
*
The cosine function should be executed for an angle in radians.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
Note that errors due to timing only accumulate during a coordinated motion and are, in essence,
reset with each new move. Therefore, if errors due to timing do become a problem, the paths
should be broken up into shorter moves.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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COMMAND SPECIFICATION
List of Commands
Command
CMD
Code
Reset position
Set address
Define status
0x0
0x1
0x2
Read status
0x3
Load trajectory
Start motion
Set gain
Stop motor
I/O control
Set home
mode
Set baud rate
Clear bits
Save as home
0x4
0x5
0x6
0x7
0x8
0x9
0xA
0xB
0xC
#
Description
Data
bytes
0-1 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
Stops the motor in one of three manners
1
Sets the direction and values of the LIMIT pins
1
Sets conditions for capturing the home position
While
Moving?
No
Yes
Yes
Yes
Maybe*
Maybe**
Yes
Yes
Yes
Yes
1
0
0
Sets the baud rate (group command only)
Yes
Clears the sticky status bits
Yes
Saves the current position in the home position
Yes
register
Yes
Nop
0xD
0
Simply causes the defined status data to be
returned
Nop
0xE
0
Simply causes the defined status data to be
Yes
returned
Hard reset
0xF
0
Resets the controller to its power-up state.
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:
0x0
Number of data bytes:
0 or 1
Command byte:
0x00 or 0x10
Data bytes:
1.Control byte:
Bit
0:
resets current position relative to home position
1-7
not used (clear to 0)
Description:
Resets the 32-bit encoder counter. If bit 0 in the control byte is set, current position will be set to
the difference between old current position and the home position. Otherwise, new current
position will be zero. Do not issue this command while executing a trapezoidal profile motion.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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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)
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 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:
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 =70 or higher)
6:
send current position error (2 bytes)
7:
send number of points in the path buffer*
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.
*
In advanced mode only.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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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 = 70 or higher)
6:
send current position error (2 bytes)
7:
send number of points in the path buffer*
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.
* In advanced mode only.
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:
in velocity/PWM mode
direction flag 0 = FWD, 1 = REV
in trapezoidal mode
0 = absolute, 1 = relative*
7:
start motion now
* In advanced mode only.
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
*
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 for Coordinated Motion Control LS-174
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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 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. In trapezoidal profile mode, this bit indicates whether position data
is absolute (if bit 6 = 0) or relative to the current position. This feature is available in advanced
mode only. 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.
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 Drives 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
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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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 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:
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:
Enable advanced features
6-7:
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 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.
Bit 5 enables advanced features of the LS-174. Advanced features will stay enabled regardless
of subsequent stop commands, until the drive is reset.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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I/O Control
Command value:
0x8
Number of data bytes:
1
Command byte:
0x18
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)
4-5:
Unused (set to 0)
6:
Fast path mode (0 = 30/60 Hz, 1 = 60/120 Hz)
7:
Unused (set to 0)
Description:
Bit 6 controls whether the drive is in slow path mode (bit 6 = 0) or fast path mode when the drive
is in advanced mode. After power-up Reverse Limit and Forward Limit are inputs.
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 then lowered 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).
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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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 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:
Command byte:
0xB
0
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
Add path points
Command value:
0xD
Number of data bytes:
n = 0, 2, 4, 6, 8, 10, 12 or 14
Command byte:
0xnD
Data bytes:
1, 2:
Incremental data for path point 1 (n >= 2)
3, 4:
Incremental data for path point 2 (n >= 4)
…
13, 14:
Incremental data for path point 7 (n = 0xE)
none
Starts execution of path point mode (n = 0)
or
Description:
The Add Path Points command allow the user to add path points to the LS-174 internal path point
buffer. Up to 7 path points may be added at with a single command, and multiple commands may
be issued to load a total of 96 path points (Bit 7 of the Read Status or the Define Status control
byte can be used to have the number of path points in the buffer returned in the status packet).
Path point data is specified as a 16-bit integer, with 14 of those bits specifying the absolute
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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distance from the previous path point to the current path point*. The additional 2 bits are used to
specify: 1) the direction of the incremental position data (i.e., whether the path point is in front of
or behind the previous point), and 2) if it should take 1/30th second or 1/60th second to get to the
path point from the previous path point. Normally, just one timing mode is used in a path, but the
timing can be mixed. The data format for each pair of data bytes is as follows:
30 Hz Path:
P13 P12 P11 P10 P9 P8 P7 P6
most significant byte
P5 P4 P3 P2 P1 P0 F D
least significant byte
60 Hz Path:
P12 P11 P10 P9 P8 P7 P6 P5
most significant byte
P4 P3 P2 P1 P0 0 F D
least significant byte
where P0 - P13 are the 14 bits of incremental position data, F is the path frequency (0 = 60 Hz, 1
= 30 Hz) and D is the direction (0 = forward, 1 = reverse). Note that for a 60 Hz path, the position
data bits are shifted to the left, and bit 2 is always zero. As with all other types of multi-byte data,
the least significant byte is always sent first.
To actually start execution of the path in the path point buffer, an Add Path Points command is
issued with no path point data included. To start several LS-174 controllers simultaneously, the
Add Path Points command (with no path point data) should be sent to the group address of the
group containing all the LS-174 controllers involved.
If “fast path” mode has been selected using the I/O Control command, bit F will be set to 0 for
120 Hz or 1 for 60 Hz, and the path point data will have the following format:
60 Hz Path (fast path mode):
P12 P11 P10 P9 P8 P7 P6 P5
most significant byte
P4 P3 P2 P1 P0 0 F D
least significant byte
120 Hz Path (fast path mode): P11 P10 P9 P8 P7 P6 P5P4 P3 P2 P1 P0 0 0 F D
most significant byte
least significant byte
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:
Command byte:
0xF
0
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.
* By using incremental position data rather than absolute position data, the amount of path data, which
will fit in the LS-174 buffer is doubled.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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STATUS BYTE AND AUXILIARY STATUS BYTE DEFINITIONS
Status Byte
Name
Bit
0
Move_done
1
Cksum_error
2
Current_limit
3
4
Power_on/diag. bit
Pos_error
5
Reverse Limit/
diag. bit
Forward Limit/
diag. bit
Home_in_progress
6
7
Auxiliary Status Byte
Name
Bit
0
Index/diag. bit
1
Pos_wrap
2
Servo_on
3
Accel_done
4
Slew_done
5
Servo_overrun
6
Path mode
Definition
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
command packet
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
Refer to “Status Bits and LED” section in this document
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
Reverse Limit or diagnostic bit (refer to “Status Bits and LED”
section in this document).
Forward Limit or diagnostic bit (refer to “Status Bits and LED”
section in this document).
Set while searching for a home position. Reset to
zero once the home position has been captured
Definition
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.
Must be cleared with the Clear Sticky Bits command
Set if the position servo is enabled, clear otherwise
Set when the initial acceleration phase of a
trapezoidal profile move is completed. 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
Set when the drive is currently executing a path. Cleared when
buffer is emptied or Stop Motor or Load Trajectory command
is sent.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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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
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)
Byte N+1
Checksum
01
1C
21
0E
05
07 FF
91 00 28 00 00
64 00 00 04 00 00 00 00 FF
00 00 08 01 00
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
Status Byte
09
09
Optional Bytes 0-16
Additional Status Bytes as position, velocity, home
position, A/D auxiliary byte, version and position error.
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 for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
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
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 Servo drives
s
t
e
p
Command
0 Power-up
1 Hard Reset
Set address
Hexadecimal
Code
AA FF 0F 0E
Drive 1
Individual
address
Drive 2
Group
address
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
address=00
communication
enabled
01
FF
Individual
address
Drive 3
FF
Individual
address
Group
address
address=00
communication
disabled
address=00
communication
disabled
address=00
communication
enabled
03
FF
Note: Before start addressing Hard Reset command must be issued.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
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 for Coordinated Motion Control LS-174
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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
Comments
command
1
AA FF 0F 0E
Hard Reset
2
AA 00 21 01 FF 21
Set Address 01h for drive 1. Group address=FFh.
3
AA 00 21 02 FF 22
Set Address 02h for drive 2. Group address=FFh.
4
AA 01 E6 64 00 00 04 00 00 Set Gains of drive 1 – defines PID parameters: KP=64h,
00 00 FF 00 00 08 01 00 57
KI=400h, KI=00h, IL=00h, OL=FFh, CL=00h, EL=800h,
SR=01h, DC=00h.
5
AA 02 E6 64 00 00 04 00 00 Set Gains of drive 2 – defines PID parameters: KP=64h,
00 00 FF 00 00 08 01 00 58
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 Load trajectory for drive 1 – target position=0, velocity=0,
00 00 00 01 00 00 00 00 85
acceleration=1, PWM=0 and start motion now
7
AA 02 E4 9F 00 00 00 00 00 Load trajectory for drive 2 – target position=0, velocity=0,
00 00 00 01 00 00 00 00 86
acceleration=1, PWM=0 and start motion now
8
AA 01 17 05 1D
Stop Motor - closes servo loop of drive 1 with Power Driver
enable and Stop Abruptly in Command byte.
9
AA 02 17 05 1E
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 Load Trajectory of drive 1 with Pos=0000h, Vel=18000h,
80 01 00 64 00 00 00 00 69
Acc=6400h, PWM=00h, servo mode=1.
11 AA 02 E4 9F 00 00 00 00 00 Load Trajectory of drive 2 with Pos=0000h, Vel=18000h,
80 01 00 64 00 00 00 00 6A
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.
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Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
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 until no response received
AA 01 13 20 34
Read Device ID and Version number
AA 01 13 FF 13
Read all status data
AA 01 E6 64 00 00 04 00 00 00 00 Set Gain parameters
FF 00 00 08 01 00 57
AA 01 E4 9F 00 00 00 00 00 00 00 Set Trajectory parameters
00 01 00 00 00 00 85
AA 01 17 05 1D
Close servo loop
Procedure FindHomePosition
AA 01 E6 C8 00 20 03 46 00 28 00 Set 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
Close the servo loop (Stop smoothly and amplifier
enable)
AA 01 94 37 25 06 01 00 58 01 00 Load 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
Set home mode - capture home position on change
of Forward Limit and stop abruptly
AA 01 05 06
Start motion
wait while home_in_progress bit=1
Home position is found on change of Forward Limit
AA 01 19 18 32
Set home mode - capture home position on change
of Index and stop abruptly
AA 01 94 77 25 06 01 00 58 01 00 Load trajectory: Velocity mode, Reverse direction
00 91
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 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
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37
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
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Path Mode Example
The table below shows all the data for a smooth trapezoidal path for a single motor moving a
carriage from a position of 0.0 to 2.0 inches. A path frequency of 30 Hz is used. (The path point
numbers in boldface indicate the periods of acceleration or deceleration.) The last two columns of
the table contain (in hex format) the exact position data with the frequency and direction bits set.
Assuming that the address for the corresponding motor controller is 0x01, the command string to
download the first seven path points would be as follows:
0xAA
0x01
0xED
0x5A
0xB6
0x0A
0x66
0xBE
0x1A
0x6E
0xBB
0x00
0x00
0x01
0x01
0x01
0x02
0x02
Header byte
Address byte
Add Path Point Command byte (14 bytes of data)
Path point 1
Path point 2
Path point 3
Path point 4
Path point 5
Path point 6
Path point 7
8-bit Checksum (does not include header)
Note that less than 7 path points can be added, as long as the upper nibble of the command byte,
indicating the number of additional data bytes, is adjusted accordingly. After several path points have
been added, you can actually start the path execution by issuing the command string:
0xAA
0x01
0x0D
0x0E
Header byte
Address byte
Add Path Point Command byte (no additional data)
8-bit Checksum (does not include header)
The path will continue to execute as long as new path points are added before the Servo Drive reaches
the last point added.
Path Mode Example: Single Axis Trapezoidal Motion
Path Length (inches)
Encoder counts per inch
Maximum Velocity (in/sec)
Acceleration (in/sec/sec)
Path Frequency (Hz)
Tick Time
Maximum Velocity (counts/tick)
Acceleration (counts/tick/tick)
Starting Position (counts)
Goal Position (counts)
2.00
10000.00
1.00
2.00
30.00
0.033
333.333
22.22
0.00
20000.00
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
38
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
Path
Point
(start)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
Current Position Integer Distance
Velocity (counts) Position from
(counts/
(counts) Prev.
tick)
Point
(counts)
0.00
0
0
22.22
22
22
22.22
66.67
67
45
44.44
133.33
133
66
66.67
222.22
222
89
88.89
333.33
333
111
111.11
466.67
467
134
133.33
622.22
622
155
155.56
800.00
800
178
177.78
1000
200
200.00 1000.00
1222
222
222.22 1222.22
1467
245
244.44 1466.67
1733
266
266.67 1733.33
2022
289
288.89 2022.22
2333
311
311.11 2333.33
2667
334
333.33 2666.67
333.33 3000.00
3000
333
333.33 3333.33
3333
333
333.33 3666.67
3667
334
333.33 4000.00
4000
333
333.33 4333.33
4333
333
333.33 4666.67
4667
334
333.33 5000.00
5000
333
333.33 5333.33
5333
333
333.33 5666.67
5667
334
333.33 6000.00
6000
333
333.33 6333.33
6333
333
333.33 6666.67
6667
334
333.33 7000.00
7000
333
333.33 7333.33
7333
333
333.33 7666.67
7667
334
333.33 8000.00
8000
333
333.33 8333.33
8333
333
333.33 8666.67
8667
334
333.33 9000.00
9000
333
333.33 9333.33
9333
333
333.33 9666.67
9667
334
333.33 10000.00 10000
333
333.33 10333.33 10333
333
333.33 10666.67 10667
334
333.33 11000.00 11000
333
333.33 11333.33 11333
333
333.33 11666.67 11667
334
Most
Least
Most
Least
Significant Significant Significant Significant
Byte
Byte
Byte
Byte
(binary)
(hex)
(binary)
(hex)
00000000
00000000
00000001
00000001
00000001
00000010
00000010
00000010
00000011
00000011
00000011
00000100
00000100
00000100
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
01011010
10110110
00001010
01100110
10111110
00011010
01101110
11001010
00100010
01111010
11010110
00101010
10000110
11011110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00
00
01
01
01
02
02
02
03
03
03
04
04
04
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
5A
B6
0A
66
BE
1A
6E
CA
22
7A
D6
2A
86
DE
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
39
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-174
Doc # 712174001 / Rev. 1.07, 05/09/2002
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
333.33
311.11
288.89
266.67
244.44
222.22
200.00
177.78
155.56
133.33
111.11
88.89
66.67
44.44
22.22
0.00
12000.00
12333.33
12666.67
13000.00
13333.33
13666.67
14000.00
14333.33
14666.67
15000.00
15333.33
15666.67
16000.00
16333.33
16666.67
17000.00
17333.33
17666.67
17977.78
18266.67
18533.33
18777.78
19000.00
19200.00
19377.78
19533.33
19666.67
19777.78
19866.67
19933.33
19977.78
20000.00
20000.00
12000
12333
12667
13000
13333
13667
14000
14333
14667
15000
15333
15667
16000
16333
16667
17000
17333
17667
17978
18267
18533
18778
19000
19200
19378
19533
19667
19778
19867
19933
19978
20000
20000
333
333
334
333
333
334
333
333
334
333
333
334
333
333
334
333
333
334
311
289
266
245
222
200
178
155
134
111
89
66
45
22
0
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000101
00000100
00000100
00000100
00000011
00000011
00000011
00000010
00000010
00000010
00000001
00000001
00000001
00000000
00000000
00000000
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
00110110
00110110
00111010
11011110
10000110
00101010
11010110
01111010
00100010
11001010
01101110
00011010
10111110
01100110
00001010
10110110
01011010
00000010
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
05
04
04
04
03
03
03
02
02
02
01
01
01
00
00
00
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
36
36
3A
DE
86
2A
D6
7A
22
CA
6E
1A
BE
66
0A
B6
5A
02
Data for a Trapezoidal Motion
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
40

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