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Two-Axis Sinusoidal Brushless

Servo Controller With Built-In

Power Amplifiers

LS-221-BL

Technical Reference

Document No 710220125 / Rev. 1.1 - April, 1999

Summary of Contents for LS-221-BL

Page 1: ...L L LO O OG G GO O OS S SO O OL L L Two Axis Sinusoidal Brushless Servo Controller With Built In Power Amplifiers LS 221 BL Technical Reference Document No 710220125 Rev 1 1 April 1999...

Page 2: ...e m anual only as reference to existing com m on products If a registered tradem ark is used w ithout being indicated as such this does not im ply that the nam e is free Copyright Logosol Inc 1991 199...

Page 3: ...Outbound Power 21 4 3 Input Board 22 4 3 1 Digital Optoisolated Inputs 24 4 3 1 1 General Purpose Inputs 24 4 3 1 2 Hall sensor Inputs 26 4 3 1 3 High Speed Position Capture Inputs 26 4 3 1 4 Emergenc...

Page 4: ...nd backup supply provided Additional general purpose optoisolated inputs and outputs Flexible w iring Em ergency stop input TECHNICAL SPECIFICATIONS Motion Control Output commutation waveform sinusoid...

Page 5: ...per board 5A 3 relay controlled 24 V power supplies relay type OMRON G6B max current 5A 30V DC contact resistance 30m mechanical contact reliability 20 x 106 Power Requirements computer power supply...

Page 6: ...ugh only one bus slot connector is occupied A m inim um of 512 Kbytes conventional RAM installed A free I O address range x280 x28F or x2A0 x2AF w here x m ay be 0 1 2 3 Pow er supply 5V 5 1A 12V 5 1A...

Page 7: ...eventually unload your body from static electricity Setup the board Select the I O address w ith J1 jum per block Optionally select IRQ line w ith J2 jum per block Setup Servo off M ode J4 and Current...

Page 8: ...ith an existing hardw are To attain a high reliability of operation in industrial environm ents all inputs and outputs are optoisolated from the com puter ground LS 221 BL is an assem bly of a m othe...

Page 9: ...LS 221 BL controller is equipped w ith various hardw are safety features em ergency stop input output overload protection am plifier overcurrent protection undervoltage and short circuit protection A...

Page 10: ...RST OPT SPS A B EMG STP MPF OPF EMGL STPL MPFL OPFL B B C ADI MPI C ENADI C D OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 D OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 D E E PCS3 PCS2 PCS1 PCS0 APERES E F F...

Page 11: ...the m otor pow er supply is present and if there is no short circuit betw een any m otor term inal and the com puter ground or the ground of the operating pow er L2 is ON if the operating pow er is p...

Page 12: ...es derived from an internal lookup Sin Cos table The com m utation angle used in the Sin Cos table is determ ined by the position encoder as w ell as param eters set by the host w hich relate the spec...

Page 13: ...by PM D M otion Processor are form ed by special circuit to m eet the pow er bridges requirem ents The am plifier enable AE is controlled by servo control and diagnostic logic The am plifiers are im m...

Page 14: ...urrent lim it 4 2 3 Digital Outputs and Outbound Power Being a fully integrated servo controller along w ith the servo channels LS 221 BL offers 8 general purpose digital outputs equipped w ith high v...

Page 15: ...reason that caused the overloading is present The outputs are controlled through the associated registers R W access D7 D6 D5 D4 D3 D2 D1 D0 Base Addr 0xA R W AE RST OPT SPS CL1 CL0 Base Addr 0xD R W...

Page 16: ...trajectory or position In case of em ergency this loop m ust be broken i e the pow er am plifier m ust be disabled to protect the controlled object and or the controller W ith servo loop open the con...

Page 17: ...one and AE is autom atically disabled M PF is also set to logic one in case of leakage betw een high voltage m otor circuits and any of low voltage com puter or 24V circuits A current as low as 0 5m A...

Page 18: ...F EMGL STPL MPFL OPFL Table 8 EMG status Stop Inputs STP optional Som e of the general purpose inputs or a selected com bination of them can be used as an additional em ergency stop This is a custom o...

Page 19: ...d regardless of the overload duration The output current is lim ited to the specified value 4 2 4 4 Interrupt Processing Reading LS 221 BL Interrupt Status register returns logic one for each event th...

Page 20: ...ad ID3 ID2 ID1 ID0 Base Addr 0xC07 Read ID7 ID6 ID5 ID4 Table 13 ID registers Base address 0x807 X X X X D D D D Base address 0xC07 X X X X D D D D D D D D D D D D B ase M odule ID Figure 7 ID num ber...

Page 21: ...H B R ID G E S M C 1 2 3 1 A M O T IO N P R O C E S S O R M O T 0 M O T 1 T T S R R S O U T P U T O V E R L O A D S E N S O R S H O R T C IR C U IT S E N S O R F R O M P R O T E C T IO N L O G IC C N...

Page 22: ...al Reference Doc 710220125 20 4 2 6 1 CN3 Connector External Power OPERATING PO W ER GRO UND OPERATING PO W ER 24V 1 2 3 4 5 6 7 8 9729103b M OTO R PO W ER EM ERG ENC Y STOP Figure 9 CN3 connector loc...

Page 23: ...onnector Outputs Outbound Power 14 OUT 0 13 OUT 1 12 OUT 2 11 O UT3 10 OUT 4 9 OUT 5 8 OUT 6 7 OUT 7 6 24V OPS 5 24V OPT 4 24V SPS 3 24V OPERATING POW ER FUSE 2 EMERG ENCY STOP 1 OPERATING POW ER GRO...

Page 24: ...red in different custom designed configurations for specific applications The standard LS 221 BL input board is LS 421 2112 9737100 Figure 11 LS 421 2112 input board layout LS 421 2112 features 16 gen...

Page 25: ...LS 221 BL Technical Reference Doc 710220125 23 9737904b Figure 12 LS 421 2112 Input Board block diagram...

Page 26: ...m ulti turn absolute position encoders 4 3 1 1 General Purpose Inputs The optoisolated inputs are designed to w ork w ith open collector or contact sensors 9737903b Figure 13 General purpose inputs In...

Page 27: ...APE Both inputs use 5V pow er supply To activate inputs APE0 APE1 load should be able to sink 20m A 5V 9738902b Figure 15 Absolute Position Encoder APE inputs Tw o eight bit registers represent IN0 I...

Page 28: ...is able to record the absolute m otor position using encoder index line as strobe See M C1231A m anual for inform ation how to use position capture m ode LS 221 BL is equipped w ith special logic w h...

Page 29: ...g Strobe Inputs 4 3 1 4 Emergency Stop Inputs optional In som e custom ized configurations one or m ore of general purpose inputs m ay be used as additional em ergency stop The standard version of LS...

Page 30: ...ed data is decoded checked for errors and stored in 24 bit data register and 6 bit status register available to the host There is only one data and status register for both absolute encoders Receiver...

Page 31: ...3 D0 Absolute position encoder data CE Counter error status PS Pre load status BA Battery alarm OS Over speed OF Over flow BE Battery error SA35 56 needs reset after being disconnected or to clear an...

Page 32: ...T N C IN 1 IN 9 IN 1 5 H B 1 N C O U T 2 2 4V S P S IN 11 H C 0 H A 0 N C O U T 3 2 4V O P S IN 1 2 C 1 A 1 M O T 1 R O U T 4 2 4V O P T IN 1 3 H C 1 H A 1 IN 3 IN 5 A L W p z K K e h E R a k u D D F...

Page 33: ...Note that the motor power is floating This is required for proper operation of the protection circuits Otherw ise in case of w rong w iring or a short circuit controller and or user electronics m ay b...

Page 34: ...x12A0 0x2280 0x22A0 0x3280 0x32A0 JUMPER OPEN JUMPER CLOSED Figure 21 Base I O Address J1 jumper block 5 2 Interrupt Line There are four hardw are interrupt lines available It is not allow ed IRQ line...

Page 35: ...3 Current Limit Mode 9 7 2 9 1 0 8 b JUMPER OPEN CURRENT LIM IT JUMPER CLOSED SHUT DO W N Figure 23 Current Limit Mode J3 jumper 5 4 Servo Off Mode 9 7 2 9 1 0 9 b JUMPER OPEN SM OOT H STO P JUMPER CL...

Page 36: ...LS 221 BL Technical Reference Doc 710220125 34 6 APPLICATION NOTES A9729002 Figure 25 Absolute encoder sample wiring...

Page 37: ...his section show s algorithm flow charts for som e basic control procedures 7 1 Board identification Start Extract low ID nibble Read Base addr 0x807 Extract high ID nibble Read Base addr 0xC07 Valida...

Page 38: ...100 mS OPF 1 End Initialize with default values PCSi default Outputs defaults OPT default Current limit i defaults End No Yes Yes Yes No No MPF 1 MC1231A is already initialized Error initializing MC12...

Page 39: ...ing axis OPF 0 MPF 0 Activate AE AE 0 AE 1 SPS 1 Set up Amplifier Disable Interrupt if proper interrupt handler is installed EN ADI 1 No No AE 1 Yes Wait 150 mS No The amplifier enable failed Run ampl...

Page 40: ...LS 221 BL Technical Reference Doc 710220125 38 7 4 Disable amplifier End Start Deactivate AE AE 0 Disable EN ADI EN ADI 0...

Page 41: ...mergency Input activated STP L 1 No Yes Update status Emergency Stop activated EMG L 1 Update status Motor Power Failure No No No Yes CL0 1 Update status Amplifier channel 0 overloaded No Yes CL1 1 Up...

Page 42: ...L L LO O OG G GO O OS S SO O OL L L Logosol Inc 1155 Tasman Drive Sunnyvale CA 94089 USA Tel 408 744 0974 Fax 408 744 0977 Http www logosolinc com Document No 710220125 1999 Logosol Inc Printed in USA...

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