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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 3

DIMENSIONAL DRAWING

SERVO DRIVE LAYOUT

ORDERING GUIDE

PART NUMBER

MODEL

912173008

LS-

Absolute Positioning Servo Drive

230601004

LS-173-CN

Mating connector kit

Summary of Contents for LS-173AP

Page 1: ...o 1000 sec q Encoder transition rate up to 500kHz q Small footprint 5 x 3 3 x 0 85 Description LS 173AP is a single axis absolute positioning motion controller with integrated servo amplifier designed...

Page 2: ...coder Commutation STP Input Absolute Positioning analog input TTL with 1K pull up to 5V LOmin 1V HImax 48V 0 5V ENCODER Quadrature with index COMMUTATION Hall sensors 60 120 o INDICATORS Red LED two i...

Page 3: ...ev 1 06 05 09 2002 Logosol Inc 1155 Tasman Drive Sunnyvale CA 94089 Tel 408 744 0974 www logosolinc com 3 DIMENSIONAL DRAWING SERVO DRIVE LAYOUT ORDERING GUIDE PART NUMBER MODEL 912173008 LS Absolute...

Page 4: ...SW1 Reserved must be set to ON ON 8 SW2 Reserved must be set to ON ON CN1 POWER AND MOTOR CONNECTOR PIN SIGNAL DESCRIPTION 1 POWER 12 90V power supply positive terminal 2 POWER GND Power supply groun...

Page 5: ...oder 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 Commuta...

Page 6: ...ol 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 6 SAMPLE APPLICATION using DC brush...

Page 7: ...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 7 SAMPLE APPLICATION using AC brushles...

Page 8: ...absolute position sensor potentiometer to ADC input 4 Connect RS 232 adapter and RJ 45 network cable between LS 173AP and your host computer Software Installation 1 Installation and using Logosol Dist...

Page 9: ...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 correspondin...

Page 10: ...the velocity of axis A1 3 VEL A1 Y sets the velocity of axis A1 to the specified value Y ACC returns and sets acceleration 1 ACC returns the accelerations of all the axes 2 ACC A1 returns the accelera...

Page 11: ...ter parameter 1 IL returns IL parameters for all the axes 2 IL A1 returns IL parameter for axis A1 3 IL A1 Y sets IL of axis A1 to the specified value Y Note IL is set to 0 after power up MVP sets abs...

Page 12: ...CL interpreter HEX 01 05 sends Start Motion command code 0x05 for module with address 1 BDR sets baud rate Possible baud rate values are 9600 19200 57600 and 115200 BDR 115200 sets baud rate to 115 2...

Page 13: ...o Drive is a highly integrated servo control module including a motion controller servo amplifier serial communication interface optical encoder interface absolute positioning interface and protection...

Page 14: ...nputs are with pull up resistors 1K to 5V Encoder and Hall Inputs Hall Inputs Hall sensor inputs are placed on the same connector as encoder inputs All hall sensors are with pull up resistors 1K to 5V...

Page 15: ...o a full duplex 4 wire 8 bit asynchronous protocol with one start bit followed by 8 data bits lsb first followed by a single stop bit The communication protocol of the LS 173AP also supports a full du...

Page 16: ...ditional optional status data bytes All 16 bit and 32 bit data is send with the least significant byte first Servo Driver Serial Interface Addressing Rather than having to hard wire or switch select t...

Page 17: ...Configuration Communication Rate The default baud rate after power up is 19 2 Kbps Baud rates up to 115 2 Kbps may be used at maximum servo rate After communication has been established with all servo...

Page 18: ...ATV The direction bit is calculated internally to move in the direction of the command position ATV The Position Servo bit should be set and Velocity Mode bit should be set The Start Now bit can be se...

Page 19: ...f motor and encoder are opposite To change the motor direction exchange S1 with S3 and AC1 with AC2 To change the encoder direction exchange A and B phase wires Safety Features To protect both the use...

Page 20: ..._ae 0 Status byte hex Pos_error 1 Pos_error 0 Fault code description Index 71 61 A OVERVOLTAGE 1 59 49 B STP IN ACTIVATED 1 39 29 C OVERHEAT 1 51 41 D A B 1 31 21 E A C 1 19 09 F B C 1 11 01 G A B C 1...

Page 21: ...tor position is reset to zero Velocity and acceleration values are set to zero All gain parameters and limit values are set to zero The servo rate divisor is set to 1 0 512msec servo rate The PWM valu...

Page 22: ...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 curren...

Page 23: ...s default 0x00 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...

Page 24: ...ue 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 parameter...

Page 25: ...ssued while the motor is running at a constant velocity issuing the command while accelerating or decelerating will cause a position error to occur If more than one Load Trajectory is issued before th...

Page 26: ...l 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 enable...

Page 27: ...d only one of bits 2 4 or 5 will cause the motor to stop automatically in the specified manner once the home condition has been triggered Set Baud Rate Command value 0xA sample values Number of data b...

Page 28: ...nously The stored positions can then be read individually by reading the home position No Operation Command value 0xD or 0xE Number of data bytes 0 Command byte 0x0D or 0x0E Description Does nothing e...

Page 29: ...us Bits and LED section of this manual 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 Name Definition 0 Ind...

Page 30: ...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 31: ...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 32: ...asman Drive Sunnyvale CA 94089 Tel 408 744 0974 www logosolinc com 32 The flowchart shows the addressing procedure of N drives network There is no group leader and the group address is FF I Individual...

Page 33: ...defines PID parameters KP 64h 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 00 00 01 00 00 00 00 85 Load trajectory for drive 1 target position 0 velocity 0...

Page 34: ...amplifier enable AA 01 94 37 25 06 01 00 58 01 00 00 51 Load trajectory Velocity mode Forward direction Velocity 1 round per second 67109 programmed velocity for 500 line encoder Acceleration 10 round...

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