Logosol Absolute Positioning Servo Drive LS-173AP
Doc # 712173008 / Rev. 1.06, 05/09/2002
Logosol, Inc.
••
1155 Tasman Drive
••
Sunnyvale, CA 94089 Tel: (408) 744-0974
••
www.logosolinc.com 22
COMMAND SPECIFICATION
List of Commands
Command
CMD
Code
#
Data
bytes
Description
While
Moving?
Reset position 0x0
0
Sets position counter to zero.
No
Set address
0x1
2
Sets the individual and group addresses
Yes
Define status
0x2
1
Defines which data should be sent in every status
packet
Yes
Read status
0x3
1
Causes particular status data to be returned just
once
Yes
Load trajectory 0x4
1-14 Loads motion trajectory parameters
Maybe*
Start motion
0x5
0
Executes the previously loaded trajectory
Maybe**
Set gain
0x6
14
Sets the PID gains and operating limits
Yes
Stop motor
0x7
1
Stops the motor in one of three manners
Yes
I/O control
0x8
1
Not used
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
Yes
Save as home 0xC
0
Saves the current position in the home position
register
Yes
Nop
0xD
0
Simply causes the defined status data to be
returned
Yes
Nop
0xE
0
Simply causes the defined status data to be
returned
Yes
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
Command byte:
0x00
Description:
Resets the 32-bit encoder counter to 0. Also resets the internal command position to 0
to prevent the motor from jumping abruptly if the position servo is enabled. Do not issue this
command while executing a trapezoidal profile motion.
