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 24
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)
(LS-173AP controller device ID = 90, version number = 1 or higher)
6: send current position error (2 bytes)
7: don’t care
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:
A/D value is the value, measured by the external voltage source (potentiometer).
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 ATV or 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: velocity/PWM direction - 0 = FWD, 1 = REV
7: start motion now
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. The acceleration
data (range 0x00000000 to 0x7FFFFFFF) is used in both trapezoidal and velocity profile
mode.
Absolute positioning
mode requires ATV (range 0x00 - 0xFF), as absolute target
position, and velocity profile (control byte bit 5 set). The motion will continue until A/D value
becomes equal to the target position. The PWM value (range 0x00 – 0xFF) is used only when
the
Position Servo
is not operating and a row PWM value is send directly to the
Power Driver
.
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
*
While the position may range from -0x7FFFFFFF to +0x7FFFFFFF, the goal position should not differ from
the current position by more then 0x7FFFFFFF.
