Logosol Multifunctional Servo Drive LS-231SE
Doc # 712231004 / Rev. A, 05/05/2011
Logosol, Inc.
•
1155 Tasman Drive
•
Sunnyvale, CA 94089 Tel: (408) 744-0974
•
www.logosolinc.com
42
Depending on
BIT0
“Brake out”
can be controlled by device status (Refer to
“Status bits and LEDs”
section of this document) or by
BIT1
(Refer to
“Brake out”
section of this document)
.
This command with bit 6 set to 1 is used to set the time base for the path points. The path point buffer
counter multiplied by the servo tick (51.2 uSec) gives the time between the points. For example if the path
point buffer counter is set to 100, the time between the points will be 5.12 mSec (100 x 51.2 uSec).
Set Homing Mode
Command value:
0x9
Number of data bytes:
1
Command byte:
0x19
Data bytes:
1. Homing control byte
Bit
0:
Capture home position on change of Limit 1 (Reverse)
1:
Capture home position on change of Limit 2 (Forward)
2
Turn motor off on home
3:
Capture home on change of Index
4:
Stop abruptly on home
5:
Stop smoothly on home
6:
Capture home position when an excess position error occurs
7:
Capture home position when current limiting occurs
Description:
Causes the Drive to monitor the specified conditions and capture the home position when any of the
flagged conditions occur. The home_in_progress bit in the status byte is set when this command is issued
and it is then lowered when the home position has been found. Setting one (and 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. This feature can also be used as a safety shutoff.
Set Baud Rate
Command value:
0xA
sample values
:
Number of data bytes:
1
9600
BRD = 0x81
Command byte:
0x1A
19200
BRD = 0x3F
Data bytes
:
57600 BRD
=
0x14
1. Baud rate divisor,
BRD
115200 BRD
=
0x0A
125000 BRD
=
0x27
312500 BRD
=
0x0F
625000 BRD
=
0x07
1250000
BRD
=
0x03
Description:
Sets the communication baud rate. All drives on the network must have their baud rates changed at the
same time; therefore this command should only be issued to a group including all of the controllers on the
network. A status packet returned from this command would be at the new baud rate, so typically (unless
the host’s baud rate can be accurately synchronized) there should be no group leader when this command
is issued.