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Logosol Multifunctional Servo Drive LS-231g2SB

Doc # 712231006 / Rev. B, 12/26/2017

Logosol, Inc.

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2833 Junction Ave., Ste. 101

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San Jose, CA 95134

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Tel: (408) 744-0974

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www.logosolinc.com

18

SAMPLE APPLICATION

Analog Input Dual-Loop

mode using Panasonic A or S series motors

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Summary of Contents for 912231020

Page 1: ...egrated power amplifier designed for applications requiring sinusoidal control of Rotary or Linear brushless motors up to 1 5 HP DC brush and Voice coil motors are also supported In LDCN mode the LS 2...

Page 2: ...V 15V HI HImax 36V Imax 8mA HI 3 5V LO 1 5V 4K7 pull down resistors ANALOG INPUT ADCin 10V 10K to Gnd ENCODER Quadrature with index Encoder rate 10MHz max 5MHz max Enc Filter ON Panasonic encoder mode...

Page 3: ...V 230601051 LS 231 CN Mating connector kit for LS 231 230601017 PAN AS CN Mating connector kit for Panasonic A and S series motors 230601027 PAN ASB CN Mating connector kit for Panasonic A and S serie...

Page 4: ...nator Rx Receive line terminator 3 Reserved Reserved must be OFF 4 Sw4 OFF Limit1 and Limit2 inputs Non differential index Z only for brushless or DC motors with differential encoders ON SingleLIMIT D...

Page 5: ...sitive terminal for DC and Voice Coil motors 8 MOTOR AC1 U Output to motor Phase 1 terminal for brushless motors Phase U for Panasonic motors Not connected for DC and Voice Coil motors CN2 I O PIN SIG...

Page 6: ...for Panasonic A or S series motors SD for Serial Encoders 6 Pull Up Protected power output 24V 7 Limit1 SingleLIMIT SW4 OFF Limit1 input connected to CN9 4 through 2K2 resistor SW4 ON SingleLIMIT inp...

Page 7: ...tected power output 24V 7 Limit1 SingleLIMIT SW4 OFF Limit1 input connected to CN9 4 through 2K2 resistor SW4 ON SingleLIMIT input connected to CN9 4 through 2K2 resistor 8 Gnd Signal ground 9 H1 H1 H...

Page 8: ...uadrature encoder mode Counter A input 8 Gnd Signal ground 9 Fault Fault output 10 Gnd Signal ground 11 5V 5V power supply 12 AEN LDCN Single loop mode NA LDCN Dual loop mode Master encoder error All...

Page 9: ...ve Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 9 DUAL LOOP MASTER ENCODER INTEFRACE LS 2311 is master encoder interface for dual loop applications with LS 231g2SB Multifunctional Ser...

Page 10: ...MPER must be shorted DIP SWITCHES SWITCH NAME DESCRIPTION 1 Reserved Reserved must be OFF 2 Reserved Reserved must be OFF CN1 PIN SIGNAL DESCRIPTION 1 12Vdc to36Vdc Power supply input If Power source...

Page 11: ...14 15 ADCin Analog input Wired to CN4pin15 16 DACout Analog output Wired to CN4pin16 CN4 LS 231g2SB interface PIN SIGNAL DESCRIPTION 1 DACout Analog output Wired to CN3pin16 2 ADCin Analog input Wired...

Page 12: ...231006 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 12 SAMPLE APPLICATION using AC brushless motor in LDCN mode Home switch and limit sw...

Page 13: ...Doc 712231006 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 13 SAMPLE APPLICATION using Panasonic A or S series motor in LDCN mode Home...

Page 14: ...ervo Drive LS 231g2SB Doc 712231006 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 14 SAMPLE APPLICATION using Panasonic A or S series mot...

Page 15: ...31g2SB Doc 712231006 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 15 SAMPLE APPLICATION using Panasonic A or S series motors in Step Dir...

Page 16: ...1g2SB Doc 712231006 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 16 SAMPLE APPLICATION using Panasonic A or S series motors in Quadratur...

Page 17: ...06 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 17 SAMPLE APPLICATION LDCN Dual Loop mode using AC brushless motor Home switch and limit...

Page 18: ...o Drive LS 231g2SB Doc 712231006 Rev B 12 26 2017 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 18 SAMPLE APPLICATION Analog Input Dual Loop mode using Pa...

Page 19: ...n Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 19 SAMPLE APPLICATION LDCN mode using Master and Slave motors NETWORK HOST NETWORK SLAVE NETWORK HOST NETWORK SLAVE CN8 2 A CN8 4 B...

Page 20: ...osolinc com 20 SAMPLE APPLICATION Analog input using Master and Slave motors CN8 2 A CN8 4 B CN8 9 Fault CN8 8 GND CN8 7 DIR CN8 8 GND CN8 12 AEN CN8 13 STEP CN8 4 B CN8 2 A CN8 8 GND CN8 15 ADCin CN8...

Page 21: ...an Jose CA 95134 Tel 408 744 0974 www logosolinc com 21 SAMPLE APPLICATION Motors with Serial Encoder wiring in LDCN mode 172169 1 1 AMP 172161 1 AMP 172159 1 AMP 172167 1 AMP TRNSFORMER ISOLATED POWE...

Page 22: ...geSTA Limit 2 INbit 5 Limit 1 INbit 4 Home INbit 3 LIMIT OK Closed Closed 0 or 1 1 1 1 Closed Home Closed Open 0 or 1 1 0 0 Closed Forward Limit Open Closed 0 0 1 1 Open Forward Limit Open Closed 1 Br...

Page 23: ...rimp Housing 15 pins AMP 5 66507 7 PIN SIGNAL NAME PIN SIGNAL NAME 1 A channel output 13 A 2 A channel output 5 A 3 B channel output 12 B 4 B channel output 4 B 5 Z channel output 11 Z 6 Z channel out...

Page 24: ...NIX CONTACT MSTB2 5 8 ST 5 08 PIN SIGNAL NAME PIN SIGNAL NAME 1 Brake 4 Brake Output1 2 Brake 5 Gnd 3 4 WIRESIDE VIEW 2 1 6 5 7 8 9 FG B a t t G N D 0V 5V NC SD 4 5V 7 0V 8 SD 5 V B A T SD SD Battery...

Page 25: ...and install Logosol Distributed Control Network Utility from http www logosolinc com software 2 logosoldistributedcontrolnetworkldcn html Initial Connection to the Host Turn on the power supply Start...

Page 26: ...s value for overload time After the expiring of the Overload time the output will be disabled If Off is set the drive output will not be affected Continuous current and Overload time should be set dep...

Page 27: ...r the motion settings based on the Scale 1 unit encoder counts per motor revolution Use motion that allow to have all three sections of the motion Acceleration Constant velocity Deceleration 2 Minimiz...

Page 28: ...e Device Mode button Clicking this button activates a menu with all possible modes of the controller After setting the device mode the PID parameters and all other mode specific parameters should be s...

Page 29: ...r AEN Fault Encoder outputs Communication interface Gnd 10K DAC ADCin DACout Input9 Enable LIMIT FAULT CN4 1 CN3 1 CN4 3 CN3 3 CN4 2 CN4 4 CN3 2 CN3 4 Input interface Encoder interface Input interface...

Page 30: ...osition Hall sensors provide the motor position They are used by motor control module to determine motor position after power up and during the motor initialization procedure Encoder and Commutator in...

Page 31: ...tal inputs are HC high speed CMOS compatible and with 4K7 pull down resistors Serial Command Interface Serial communication with the LS 231g2SB adheres to a full duplex 4 wire 8 bit asynchronous proto...

Page 32: ...drive will send back a status packet consisting of Status byte 0 23 optional bytes of status data Checksum byte Communication interface The status byte contains basic status information about the Driv...

Page 33: ...ch LS 231g2SB should have a unique fixed address In this case the host can establish communication with a controller without sending Hard Reset command LDCN Network Group Addresses In addition to the...

Page 34: ...ation of 40 rev sec sec which would bring us up to the desired speed in sec would be 0 00021 counts tick tick with the lower 16 bits the fractional component this would be programmed as 0 00021 x 6553...

Page 35: ...Bus FAULT output depends on internal drive status Refer to LS 231g2SB Diagnostic and I O for details LIMIT output is closed when Limit1 and Limit2 CN5 CN9 are High BridgeSTA bit is High To operate wit...

Page 36: ...tatus Bit 6 Limit2 Status Bit 5 Home Source Status Bit 4 Pos_error Status Bit 3 Power Status Bit 0 Move_done Auxiliary Bit 2 Servo Auxiliary Bit 0 Index DE INbit12 CONDITION ORANGE GREEN RED FAULT REL...

Page 37: ...S Bit Name Description OUTbit0 BrakeMODE 0 Brake Output1 depends on Servo drive state See diagnostic tables 1 Brake Output1 is following Output1 bit Bit 0 Brake Outpu1 CN1pin4 OFF Bit 1 Brake Outpu1 C...

Page 38: ...se Dir CN8pin7 INbit14 0 Master encoder counter phase A CAP4 Step CN8pin13 N A Master encoder counter phase B CAP5 _____ Fault CN8pin9 N A OUTbit16 OFF HIGH when PIC_AE bit is CLEARED Power driver is...

Page 39: ...when DE is LOW or fault condition is present HIGH when DE is HIGH and NO fault condition is present Step Dir mode MODEbit C B A 110 Name Bit AEN CN8 12 Dir CN8 7 Function DE INbit12 0 X Amplifier disa...

Page 40: ...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 t...

Page 41: ...starting at exactly the same time When a start path command is issued to a group of controllers they will all start within 0 000025 seconds of one another The second type of timing error results from...

Page 42: ...de frequency Yes Set home mode 0x9 1 Sets conditions for capturing the home position Yes Set baud rate 0xA 1 Sets the baud rate group command only Yes Clear bits 0xB 0 Clears the sticky status bits Ye...

Page 43: ...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 versio...

Page 44: ...d with the Define Status command Load Trajectory Command value 0x4 Number of data bytes n 1 15 Command byte 0xn5 Data bytes 1 Control byte Bit 0 load position data n n 4 bytes 1 load velocity data n n...

Page 45: ...ition data least significant byte first followed by 4 bytes of acceleration data Start Motion Command value 0x5 Number of data bytes 0 Command byte 0x05 Description Causes the trajectory information l...

Page 46: ...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...

Page 47: ...sition 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 conditio...

Page 48: ...d 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...

Page 49: ...ed If bit 2 is set the motor will simply start servoing to its current position Setting bit 3 enters a more graceful stop mode the controller sets the goal velocity to 0 and enters velocity mode causi...

Page 50: ...1 If the watchdog is not activated the status will be 65535 0xFFFF If the watchdog has expired the status will be 0 Any other value means that the watchdog is working and represents the remaining time...

Page 51: ...er to LS 231g2SB Diagnostic and I O section in this document 7 Home_in_progress Set while searching for a home position Reset to zero once the home position has been captured Auxiliary Status Byte Bit...

Page 52: ...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 t...

Page 53: ...mmand code Individual Address Group Address 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 sta...

Page 54: ...n Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 54 The flowchart shows the addressing procedure of N drives network There is no group leader and the group address is FF I Individua...

Page 55: ...defines PID parameters KP 64h KD 400h KI 00h IL 00h OL FFh CL 00h EL 800h SR 01h DC 00h 6 AA 01 E4 9F 00 00 00 00 00 00 00 00 01 00 00 00 00 85 Load trajectory for drive 1 target position 0 velocity 0...

Page 56: ...06 01 00 22 00 00 00 19 Load trajectory Velocity mode Forward direction Velocity 1 revolution per second 67109 programmed velocity for 5000 line encoder Acceleration 10 revolutions per second2 34 pro...

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