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
46
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:
Not used. Clear to 0
6:
Not used. Clear to 0
7:
Not used. Clear 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 (Limit1 (Reverse)), and bit 6 (Limit 2 (Forward)) of status byte (refer
to
Status Bits
and
Safety Features
section 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.
I/O Control
Command value:
0x8
Number of data bytes:
n
Command byte:
0x18
Data bytes:
Control byte
Bit
0:
“Brake out” mode
.
If this bit is set to 0 the “Brake out” is controlled according the
“Status bits and LEDs”
section of this
document. If this bit is set to 1 the “Brake out” is controlled by
BIT1.
1:
Brake out control.
If
BIT0
is set to 0 - not used.
If
BIT0
is set to 1:
BIT1=
0 - Brake out=off;
BIT1=1
- Brake out =on.
2:
Not used. Must be set to 0.
3:
Not used. Must be set to 0.
4:
Not used. Must be set to 0.
5:
Not used. Must be set to 0.
6:
If this bit is set, the Path Points Buffer counter will be set to the value of the next 2 data
bytes (requires 2 data bytes, range 0000h – 7FFFh)
7:
Not used. Set to 0.
