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 34
Procedure Initialize
AA FF 0F 0E
Hard reset
AA 00 21 01 FF 21
Set address
AA 00 21 02 FF 22
Search for more modules until no response received
AA 01 13 20 34
Read Device ID and Version number
AA 01 13 FF 13
Read all status data
AA 01 E6 64 00 00 04 00 00 00 00
FF 00 00 08 01 00 57
Set Gain parameters
AA 01 E4 9F 00 00 00 00 00 00 00
00 01 00 00 00 00 85
Set Trajectory parameters
AA 01 17 05 1D
Close servo loop
Procedure FindHomePosition
AA 01 E6 C8 00 20 03 46 00 28 00
FF 00 40 1F 01 00 9F
Set gain parameters: KP=200, KD=800, KI=70,
IL=40, Output limit=255, current limit =0, Position
error limit=8000, Servo rate divisor=1 amplifier
deadband compensation=0
AA 01 17 09 21
Close the servo loop (Stop smoothly and 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 per second
2
(344 programmed acceleration
for 500 line encoder)
AA 01 19 18 32
Set home mode - capture home position on change
of Index and stop abruptly
AA 01 05 06
Start motion
wait while home_in_progress bit=1
Home position is found on change of Index
Procedure Go To Absolute Position
AA 01 17 09 21
Close the servo loop (Stop smoothly and amplifier
enable)
AA 01 A4 3E 25 06 01 00 58 01 00
00 64 CC
Load trajectory: Position servo, Velocity mode, Load
Velocity, Acceleration, Analog target position=100
(64h)
AA 01 05 06
Start motion
Calculation of programmed velocity and acceleration for servo rate divisor = 1:
Vel = (encoder counts per revolution) x (number of revolutions per second) x 33.554432
Acc = (encoder counts per revolution) x (number of revolutions per second
2
) x 0.017179869184
For the examples above:
Vel = 2000 x 1 x 33.554432 = 67109 = 00010625h
Acc = 2000 x 10 x 0.017179869184 = 344 = 00000158h
