Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 Features � Motors supported: - Brushless 60/120° commutated (AC) - Brush-commutated (DC) � Up to 30A peak / 24A continuous output current � Up to 200V single power supply � STEP/DIRECTION interface � RS-485 command interface � 32-bit position, velocity, acceleration, 16-bit PID filter gain values � Comprehensive motor output short-circuit protection: - Output to output - Output to ground - Output to power Description � Adjustable motor current limit and overload time limit LS-182 is a single-axis motion controller with integrated servo amplifier designed for applications � Over/under voltage shutdown using brushless (AC) or brush-commutated (DC) � Overheating protection motors up to 1.5 HP. No jumpers or setup is required to switch between both types of motors. Trapezoidal � Emergency stop input brushless motor commutation is performed automatically if hall sensors are connected to the � Forward and reverse over travel inputs unit. Up to 31 intelligent servo drives can be controlled � Communication speed 19.2 - 115.2 KBps over a multi-drop full duplex RS-485 network in a distributed motion control environment. Standard � Servo rate 2 kHz RJ-45 connectors and commercially available cables are used for daisy chaining of the modules. � PWM frequency 20 kHz LS-182 is equipped with various safety features such as short circuit protection for the motor and � Command rate up to 1000/sec controller, over travel limit switch inputs, emergency � Encoder transition rate up to 2MHz stop input, over and under voltage shutdown. The maximum motor output current and overload time � Small footprint (5” x 4” x 0.85”) can be set. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 o TECHNICAL SPECIFICATIONS rated at 25 C ambient, POWER (+)=60VDC, Load=250µH motor POWER SUPPLY VOLTAGE (POWER (+)) LS-182x-620 18 to 180 V DC, 200V Absolute Maximum LS-182x (LS-182x-1210) 18 to 90 V DC, 100V Absolute Maximum LS-182x-1215 18 to 140 V DC, 150V Absolute Maximum LS-182x-2010 18 to 90 V DC, 100V Absolute Maximum LS-182Hx-3005 18 to 50 V DC, 55V Absolute Maximum BACKUP POWER SUPPLY VOLTAGE (BACKUP POWER (+)) LS-182Hx-3005 18 to 50 V DC, 55V Absolute Maximum MAX MOTOR OUTPUT CURRENT Peak (Ip) LS-182x-620 6A LS-182x (LS-182x-1210), LS-182x-1215 12A LS-182x-2010 20A LS-182Hx-3005 30A Continuous (Ic) LS-182x-620 4A LS-182x (LS-182x-1210), LS-182x-1215 8A LS-182x-2010 12A LS-182Hx-3005 24A MAX MOTOR OUTPUT VOLTAGE V = 0.96(POWER (+)) – 0.17(I ) out out MIN LOAD INDUCTANCE 200µH PWM SWITCHING FREQUENCY 19,512 KHz SERVO RATE 0.512 msec SERIAL BAUD RATE 19.2 – 115.2 Kbps OPEN COLLECTOR BRAKE OUTPUT Max voltage applied to output 48V Max current load 0.3A OPTOISOLATED FAULT OUTPUT Max voltage applied to output 48V Max current load 3mA INPUTS Encoder & Commutation TTL with 1K pull-up to 5V Digital Inputs: Forward limit, Reverse limit, STP IN LOmin=-1V, HImax=48V, Imax=5mA Direction, Step, Servo Enable Imax=10mA ENCODER Quadrature with index o COMMUTATION Hall sensors 60/120 INDICATORS Power ‘ok’ – low intensity Red LED (two intensity levels) Servo ‘on’ – high intensity PROTECTION Short circuit Motor output to motor output Motor output to POWER GND Motor output to POWER (+) o Over temperature shut off Activated at 80 C FIRE-SAFETY Internal fuse LS-182 10A Quick blow LS-182H None POWER DISSIPATION (max) LS-182x-xxxx 30W LS-182Hx-xxxx 45W THERMAL REQUIREMENTS o Storage temperature range –30 to +85 C o Operating temperature range 0 to 45 C MECHANICAL Size LS-182 L=5.00”, H=4.00”, D=0.85” LS-182H L=6.50”, H=4.00”, D=0.85” Weight LS-182 0.66lb. (300gr.) LS-182H 0.94lb. (430gr.) +5V SOURCE Max current 200mA for all three output pins combined Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 2 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 MATING CONNECTORS LS-182 Motor and Power Magnum EM2565-06-VL or Phoenix MSTB 2.5/6-ST-5.08 LS-182H Motor and Power None Encoder and Commutator Molex 22-01-3127 housing with 08-50-0114 pins (12 pcs.) Step/Dir Interface Molex 22-01-3087 housing with 08-50-0114 pins (8 pcs.) Control Molex 22-01-3097 housing with 08-50-0114 pins (9 pcs.) Communication 8 pin RJ-45 DIMENSIONAL DRAWING LS-182 LS-182H Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 3 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 SERVO DRIVE LAYOUT LS-182 LS-182H ORDERING GUIDE PART MODEL DESCRIPTION NUMBER 912182008 LS-182-620 AC/DC Intelligent Servo Drive; 6A / 180V 9121820010 LS-182D-620 AC/DC Intelligent Servo Drive with differential encoder; 6A / 180V 912182001 LS-182 AC/DC Intelligent Servo Drive; 12A / 90V 912182004 LS-182D AC/DC Intelligent Servo Drive with differential encoder; 12A / 90V 912182009 LS-182-1215 AC/DC Intelligent Servo Drive; 12A / 140V 9121820011 LS-182D-1215 AC/DC Intelligent Servo Drive with differential encoder; 12A / 140V 912182006 LS-182-2010 AC/DC Intelligent Servo Drive; 20A / 90V 912182005 LS-182D-2010 AC/DC Intelligent Servo Drive with differential encoder; 20A / 90V 912182014 LS-182H-3005 AC/DC Intelligent Servo Drive; 30A / 50V 230601007 LS-182-CN Mating connector kit for LS-182 230601015 LS-182H-CN Mating connector kit for LS-182H Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 4 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 CONNECTORS AND PINOUT LS-182 LS-182H Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 5 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 DIP SW – DIP SWITCH SW SIGNAL DESCRIPTION 1 STEP Mode select switch / ‘on’=STEP/DIR mode 2 ADR4 Address select switch 4 3 ADR3 Address select switch 3 4 ADR2 Address select switch 2 5 ADR1 Address select switch 1 6 ADR0 Address select switch 0 7 T-in Transmit line terminator 8 T-out Receive line terminator CN1 – POWER AND MOTOR CONNECTOR LS-182 PIN SIGNAL DESCRIPTION 1 POWER (+) Power supply, positive terminal * 2 POWER GND Power supply ground 3 POWER GND* Power supply ground 4 AC3 or NC Output to motor Phase 3 terminal for brushless motor Not connected for brush motor 5 AC2 or DC (-) Output to motor Phase 2 terminal for brushless motor Negative terminal for brush motor 6 AC1 or DC (+) Output to motor Phase 1 terminal for brushless motor Positive terminal for brush motor LS-182H PIN SIGNAL DESCRIPTION 1 POWER (+) Power supply, positive terminal * 2 POWER GND Power supply ground 3 AC3 or NC Output to motor Phase 3 terminal for brushless motor Not connected for brush motor 4 AC2 or DC (-) Output to motor Phase 2 terminal for brushless motor Negative terminal for brush motor 5 AC1 or DC (+) Output to motor Phase 1 terminal for brushless motor Positive terminal for brush motor 6 SHIELD GND Motor cable shield 7 BACKUP POWER (+) Backup power supply – Optional * POWER GND and GND are electrically connected. Drive’s case is isolated from drive circuitry and can be grounder externally. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 6 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 CN2 – CONTROL PIN SIGNAL DESCRIPTION 1 STP IN Stop input (disables servo amplifier) * 2 GND Signal ground 3 REVERSE LIMIT Reverse limit input 4 FORWARD LIMIT Forward limit input 5 GND* Signal ground 6 PEAK CURRENT Overcurrent limit ** 7 +5V Signal power supply 8 OVERLOAD TIME Overcurrent limit timeout 9 BRAKE OUT Brake output. Open collector 48V/03A CN3 – STEP/DIR INTERFACE PIN SIGNAL DESCRIPTION 1 STEP INPUT Step input 2 DIRECTION INPUT Direction input 3 COM STEP/DIR interface power supply (+) 4 +5V** Signal power supply 5 FAULT COLLECTOR Fault output (+) 6 FAULT EMITTER Fault output (-) 7 GND* Signal ground 8 SERVO ENABLE Servo enable input (active low) CN4 – ENCODER AND COMMUTATOR PIN SIGNAL DESCRIPTION 1 GND* Encoder ground 2 ENCODER Z Encoder index 3 ENCODER A Encoder phase (+)A 4 +5V** Encoder power supply 5 ENCODER B Encoder phase (+)B 6 +5V** Commutator power supply 7 COMMUTATOR S1 Hall sensor #1 8 COMMUTATOR S2 Hall sensor #2 9 COMMUTATOR S3 Hall sensor #3 10 GND* Commutator ground 11 R1 Reserved, for LS-182 Encoder Phase (-)A, for LS-182D 12 R2 Reserved, for LS-182 Encoder Phase (-)B, for LS-182D * POWER GND and GND are electrically connected. Drive’s case is isolated from drive circuitry and can be grounder externally. ** 200mA Max current for all three outputs combined. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 7 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 CN5 – NETWORK OUT (SLAVE) PIN SIGNAL DESCRIPTION 1 N.C. Not connected 2 GND* Interface ground 3 +TX (+) Transmit data 4 -TX (-) Transmit data 5 -RX (-) Receive data 6 +RX (+) Receive data 7 -A out (-) Address output 8 +A out (+) Address output CN6 – NETWORK IN (HOST) PIN SIGNAL DESCRIPTION 1 +5V** RS-232 adapter power supply 2 GND* Interface ground 3 +TX (+) Transmit data 4 -TX (-) Transmit data 5 -RX (-) Receive data 6 +RX (+) Receive data 7 -A in (-) Address input 8 +A in (+) Address input Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 8 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 LS-182 SAMPLE APPLICATION using AC (brushless) motor in RS-485 network command mode LS-182 SAMPLE APPLICATION using DC (brush) motor in RS-485 network command mode Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 9 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 LS-182 SAMPLE APPLICATION, using AC (brushless) motor in STEP/DIRECTION mode LS-182 SAMPLE APPLICATION, using DC (brush) motor in STEP/DIRECTION mode Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 10 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 LS-182H SAMPLE APPLICATION using AC (brushless) motor in RS-485 network command mode LS-182H SAMPLE APPLICATION using DC (brush) motor in RS-485 network command mode Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 11 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 LS-182H SAMPLE APPLICATION, using AC (brushless) motor in STEP/DIRECTION mode LS 182H SAMPLE APPLICATION, using DC (brush) motor in STEP/DIRECTION mode Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 12 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 LOGOSOL LS-182 QUICK START GUIDE Hardware Setup * 1. Connect power supply (18 to 90 VDC) to LS-182. 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-182 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. * When installing multiple drives, each drive should have its own twisted pair cable running to terminals of the power supply. Don’t “daisy-chain” cables from one drive to the next. This will aggravate cable noise and cause the noise from one drives to add to each other. The “star”-wiring configuration will minimize wiring noise. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 13 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 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. C. STEP/DIRECTION mode quick start 1. Execute steps A and B. 2. Set “Step rate” edit box to 1 to set STEP multiplier value. 3. Check “Servo params” check box and click “Save” button in “EEPROM” panel. 4. Turn off the power supply. 5. Set STEP/DIR mode (STEP switch ‘on’). 6. Turn on the power supply and you can control the drive using STEP/DIR interface. When the controller is in step and direction mode, most of the controls are disabled. Clicking on “Network” radio button in “Mode” panel performs switching to RS-485 network command mode. Switching back to step and direction mode is possible only by resetting the controller. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 14 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 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-180. 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. C. STEP/DIRECTION mode quick start 1. Execute steps A and B. 2. Type WRP A1=00 00 00 01 to set STEP multiplier value. 3. Type SVP A1 to save all parameters in EEPROM. 4. Turn off the power supply. 5. Set STEP/DIR mode (STEP switch ‘on’). 6. Turn on the power supply and you can control the drive using STEP/DIR interface. * 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 15 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 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 0A/D PWMadj is decremented by 1 to 0. Bit 2 (Current_Limit) of status byte will be set until CL 0, EL <> 0, and SR <> 0. 4. Use Load trajectory command to set the target position, velocity and acceleration with start motion now in trapezoidal mode. Minimal requirements are acceleration <> 0 and target position = 0. This command does not start any motion. It is necessary to initialize internal registers of the module. 5. Close the servo loop by using Stop Motor command (Pic_ae=1 and Stop abruptly=1). Note: Steps 3, 4 and are necessary only if EEPROM data do not fit minimal requirements. Step 5 is necessary if servo init byte in EEPROM is 0. Understanding the Serial Communication with LS-182 The Serial Communication with LS-182 is strictly master-slave and matches repeatedly two elements: - Sending a command to the specified drive’s address; - Receiving the answer to the command sent – Status Byte(s). Note: During the communication all bytes are sent with LSB first. Commands There are 16 commands controlling LS-182 drives (refer to LS -182 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 Command Code Data Byte CheckSum = (Individual or Byte 2 + Byte 3 + High 4 bits Low 4 bits Group) Data Byte No. of data bytes command code AA 01 1 3 01 15 Examples Cmd. Bytes Byte 1 Byte 2 Byte 3 Byte 4 - N Byte N+1 Command Header Address Cmd. Code Data Byte(s) Checksum Reset position AA 01 0 0 01 Define status AA 05 1 2 05 1C Set address AA 01 2 1 07 F0 19 Load trajectory AA 01 5 4 91 00 28 00 00 0E Set gain AA 01 E 6 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 LS-182 Command Description). By default only the Status byte and Checksum are returned to the host. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 39 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 Examples Byte 1 Optional Bytes 0-16 CheckSum Status Byte Additional Status Bytes as position, velocity, home CheckSum = Byte 1+ Optional Bytes position, A/D auxiliary byte, version and position error. 09 no additional status bytes requested 09 09 00 28 00 00 – four additional status bytes 31 Addressing Each drive in the daisy-chained network has two addresses: - Individual - for individual control of each drive. Its range is from 01h to 7Fh. - Group - for simultaneous control of all group members by sending a single command to their group address. It is in the range of 80h to FFh. Both these addresses have to be set during the initialization process. The group may have a Group leader responsible to send status data. Its address is: Group leader address = Group address - 80h. If there is no group leader - no status data will be send after a group command. Set Baud Rate command must be sent only as a group command with no group leader, otherwise communication problems may occur. Set Address command format Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Header Preset Address Command Individual Group Address Checksum code Address AA 00 21 01 FF 21 Setting the Addresses After power-up and Hard Reset command all drives have their address set to 00h and only the first drive (starting from the host) has its communication enabled. Consecutive Set Address commands are sent to address 00h until all drives are addressed. This procedure can be executed once after Hard Reset. The table below shows the steps to address 3-drives network. Example of sequential addressing for three LS-182 drives SCommand Set address Drive 1 Drive 2 Drive 3 t Hexadecimal Individual Group Individual Group Individual Group e Code address address address address address address p 0 Power-up 1 Hard Reset AA FF 0F 0E address=00 address=00 address=00 communication communication communication enabled disabled disabled 2 Set Address AA 00 21 01 FF 21 01 FF address=00 address=00 Drive1 = 01 communication communication enabled disabled 3 Set Address AA 00 21 02 FF 22 01 FF 02 FF address=00 Drive2 = 02 communication enabled 4 Set Address AA 00 21 03 FF 23 01 FF 02 FF 03 FF Drive3 = 03 Note: Before start addressing always Hard Reset command must be issued. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 40 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 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. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 41 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 Examples of Managing Two LS-182 Drives # 1 – Resets all modules with group command. # 2 and # 3 - Set the addresses of drives 1 and 2. # 4 and # 5 - Set PID parameters of drives 1 and 2. # 6 and # 7 - Starts motion in trapezoidal mode with target position=0, velocity=0, acceleration=1 and PWM=0. # 8 and # 9 - Close servo loops of drives 1 and 2. Initialization is complete at this point. # 10 and # 10 - Load trajectories (positions, velocities and accelerations) for drives 1 and 2. # 12 and # 13 - Load and execute new trajectory for drive 1. # 14 and # 15 - Read additional status bytes from drives 1 and 2. # 16, # 17 and #18 - Load new trajectories for drives 1 and 2 and execute them with one command sent to the drives’ group address. Examples # Hexadecimal code of command Comments 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 00 Set Gains of drive 1 – defines PID parameters: KP=64h, 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 00 Set Gains of drive 2 – defines PID parameters: KP=64h, 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 00 Load trajectory for drive 1 – target position=0, velocity=0, 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 00 Load trajectory for drive 2 – target position=0, velocity=0, 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 80 Load Trajectory of drive 1 with Pos=0000h, Vel=18000h, 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 80 Load Trajectory of drive 2 with Pos=0000h, Vel=18000h, 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. Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 42 Logosol AC/DC Intelligent Servo Drive with Step & Direction Interface LS-182 Doc # 712182001 / Rev. 1.17, 11/01/2004 Procedure Initialize AA FF 0F 0E Hard reset AA 00 21 01 FF 21 Set address AA 00 21 02 FF 22 Search for more modules... AA 01 13 20 34 Reads Device ID and Version number AA 01 13 FF 13 Reads all status data AA 01 1D 00 1E* Reads EEPROM memory data AA 01 E6 64 00 00 04 00 00 00 00 Sets Gain parameters FF 00 00 08 01 00 57 AA 01 E4 9F 00 00 00 00 00 00 00 Sets Trajectory parameters 00 01 00 00 00 00 85 AA 01 17 09 21 Closes the servo loop *Initialization is complete after this command if gain and trajectory parameters are present in EEPROM memory and servo init byte is 1. Procedure FindHomePosition AA 01 E6 C8 00 20 03 46 00 28 00 Sets gain parameters: KP=200, KD=800, KI=70, FF 00 40 1F 01 00 9F IL=40, Output limit=255, current limit =0, Position error limit=8000, Servo rate divisor=1 amplifier deadband compensation=0 AA 01 17 09 21 Closes the servo loop (Stop smoothly and amplifier enable) AA 01 94 37 25 06 01 00 58 01 00 Loads trajectory: Velocity mode, Forward direction, 00 51 Velocity=1 round per second (67109 programmed velocity for 500 line encoder), Acceleration = 10 2 round per second (344 programmed acceleration for 500 line encoder) AA 01 19 12 2C Sets home mode - capture home position on change of Forward Limit and stop abruptly AA 01 05 06 Starts motion wait while home_in_progress bit=1 Home position is found on change of Forward limit AA 01 19 18 32 Sets home mode - capture home position on change of Index and stop abruptly AA 01 94 77 25 06 01 00 58 01 00 Loads trajectory: Velocity mode, Reverse direction 00 91 AA 01 05 06 Starts motion wait while home_in_progress bit=1 Home position is found on change of Index Calculation of programmed velocity and acceleration for servo rate divisor = 1: Vel = (encoder counts per revolution) x (number of revolution per second) x 33.554432 2 Acc = (encoder counts per revolution) x (number of revolution per second ) x 0.017179869184 For this example: Vel = 2000 x 1 x 33.554432 = 67109 = 00010625h Acc = 2000 x 10 x 0.017179869184 = 344 = 00000158h Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com 43