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SMAC

LAC-26 Technical Reference Manual

4/29/2013 53

4.9 Future Expansion Interface

For future

expansion, the

LAC-26

provides

proprietary

high

speed

serial

data

bus.

Such

uses might

include

various external

devices

such

thumb-wheel

switches, LED or

LCD

displays,

switch panels and additional number or types of input

and

output.

This

provides

custom

expansion

flexibility in certain qualified OEM applications.

Summary of Contents for LAC-26

Page 1: ...1 SMAC LAC 26 TECHNICAL REFERENCE MANUAL Revision 0 April 2013 SMAC CORP 5807 Van Allen Way Carlsbad CA 92008...

Page 2: ...2 S M A C 5807 VAN ALLEN WAY CARLSBAD CA 92008 PHONE 1 760 929 7575 FAX 1 760 929 7588 FOR TECHNICAL ASSISTANCE CALL 1 760 929 7575 COPYRIGHT AUTOMATION MODULES INC 1993 2013...

Page 3: ...ency 10 3 Entering Commands 11 3 1 Downloading Commands 12 4 Introduction to Commands 12 4 1 Parameter Commands 12 4 2 Reporting Commands 21 4 3 Motion Commands 27 4 4 Register Commands 33 4 4 1 Inter...

Page 4: ...R Drives Only 68 5 4 System Requirements 68 5 4 1 Specifications Check 68 5 4 2 Motor Specifications 69 5 4 3 Power Supply Specifications 70 5 4 4 Environment 72 6 Operation and Features 73 6 1 Featur...

Page 5: ...nonvolatile RAM NVRAM The LAC 26 can interface to the real world via the onboard motor drivers 2 channels of quadrature type encoder interface 4 channels of optoisolated digital input and 2 channels...

Page 6: ...me and Fault for each axis Analog Inputs 5 Channels With 10 Bit Resolution 3 are user accessible Analog Output2 1 Channels with 12 bits Resolution 10 VDC Expansion I O Optional Expansion to 64 I O Com...

Page 7: ...thod A typical use for the Fault input is for an external device to signal a fault condition such as over temperature Note The external Fault input is tied to the internal over temperature signal from...

Page 8: ...ive in the on state CH or active in the off state CL This is analogous to a switch and to whether it is normally open or normally closed The Channel On CN and Channel Off CF commands do exactly as the...

Page 9: ...ivation voltage 24 V Maximum input voltage 4 87 mA Input current at maximum voltage 1 1 V Maximum voltage to deactivate input 6 V Absolute maximum reverse input voltage 40 V Maximum voltage output can...

Page 10: ...oses the A D interface is actually ten channels but the user is only given access to channels 0 1 and 2 while channels 6 and 7 are used internally for monitoring the output current of the onboard driv...

Page 11: ...d is used it will enable the interrupt source specified with the command to function In the event that it is necessary to disable an interrupt source there is a Disable Vector DV command that function...

Page 12: ...In cases where it is undesirable to return to the interrupted macro the Unpush Macro UM command can be used to remove the previously pushed macro from the macro stack This command can also be used to...

Page 13: ...to blink These codes are listed in Appendix A LAC 26 Error Code Definitions If you make a mistake when entering a command you can backspace to correct the error If you are entering commands and chang...

Page 14: ...for line comments can make program documentation possible and desirable 3 1 Downloading Commands In many cases it is more convenient to enter commands using a text editor on a host computer and then...

Page 15: ...f the following error thereby enhancing performance Related Commands FV OM OO Command FF Fail Input Off Default Off This command has no effect but is retained for backward compatibility purposes Comma...

Page 16: ...ing performance Related Commands FA OM OO Command aGRn Gear Ratio Argument 8388607 n 8388607 Default 0 This command sets the electronic gearing ratio for axis n A negative argument will cause a direct...

Page 17: ...be set This will prevent the LAC 26 from moving the servo until the flag is cleared by issuing the Motor On MN command Before this command will have any effect the limit switch must be enabled with t...

Page 18: ...ble USER1 16 1 4 Low Bits of Encoder Position 32 2 5 Reserved 6 Reserved 7 Reserved Examples 1OM0 Send axis 1 servo output command to D A channel 1 1OM16 Send axis 1 servo output command to D A channe...

Page 19: ...ve Level Low 0 Index Active Level High 4 Home Sense Active ON 0 Home Sense Active OFF 8 Limit Sense Active ON 0 Limit Sense Active 16 OFF Limit Sense Active ON 0 Limit Sense Active OFF 32 For example...

Page 20: ...nts Rev 1000 Hz2 65536 9830 4 75 Rev Sec K Please note that if the Set Acceleration SA command is used with an argument of 0 then you have commanded the velocity to change in steps of zero which means...

Page 21: ...n 1 023 in Torque Mode 1 QM1 0 n 32 767 in Position Mode PM 0 n 32 767 in Velocity Mode VM Default 32 767 For servo axis a this command sets the maximum output level when in Position Mode PM or Veloci...

Page 22: ...oop period will be 10 0 000100 001000 S or 1 mS The minimum servo loop rate is 100 S per enabled axis The following table shows the minimum servo loop times Axis Minimum Loop Time Enabled 0 100 S 1 10...

Page 23: ...red velocity 131072 K 1 Rev Sec 2000 Counts Rev 1000 Hz 65536 5242880 40 Rev Sec K Related Commands SA SS 4 2 Reporting Commands The reporting commands output data relevant to the operating status of...

Page 24: ...e derivative gain value of the PID digital filter for servo axis a Related Commands TG TI TL Command TE Tell Error This command reports the last error code caused by any command or macro If no error h...

Page 25: ...nt Gain SC 0 Velocity Feed forward Gain FV 0 Accel Feed forward Gain FA 0 Output Offset OO 0 Position Error Dead Band DB 0 Maximum Following Error SE 16383 Integral Sample Rate RI 0 Derivative Sample...

Page 26: ...Define MD command and number at the beginning of each macro Related Commands MD RM Command aTO Tell Optimal Position This command reports the desired position for servo axis a This value may be diffe...

Page 27: ...his bit is then cleared 6 Current Direction This bit indicated the current direction of travel for the servo 0 Positive 1 Negative 7 Desired Direction This bit indicates the direction commanded by the...

Page 28: ...the Limit input is currently active Command aTT Tell Target Position This command reports the current target position of servo axis a This is the absolute position to which the servo was last commande...

Page 29: ...the PM mode If a servo axis is in QM and commanded into VM it will attempt to instantly assume the last known maximum velocity and remain in VM If a servo axis is in QM and commanded into PM the outp...

Page 30: ...rection for servo axis a when in velocity mode Issuing this command with an argument of 0 will cause the servo to move in a positive direction while an argument of 1 will cause it to move in a negativ...

Page 31: ...as n This command will neither start nor stop any servo motion It is up to the user to initiate servo motion before issuing the command and to stop any motion after the command is completed Related Co...

Page 32: ...he off state The servo s output will go to the null level This command can be used to prevent unwanted motion or to allow manual positioning of the unit When the servo is turned off the target and the...

Page 33: ...before entering torque mode while in PM or VM it will remain limited while in QM and cannot be changed until the unit is in PM or VM For mode 1 or QM1 the LAC 26 will use one of its A D channels to m...

Page 34: ...of stopping abruptly When in Torque Mode the outputs will be set to null Related Commands AB WS Command aVM Enter Velocity Mode Default Position mode This command places servo axis a in the Velocity...

Page 35: ...will be reported If the value contained by the register of the indirect argument is out of range an error will also be reported As stated earlier because the registers are within the NVRAM they are n...

Page 36: ...position error SE command I Servo error integral DERIV Servo error derivative IMON Servo output current monitor INTRVL PID derivative sample interval FR command SMPCNT PID derivative sample counter II...

Page 37: ...s 0 Enabled This bit is set to 1 when axis 0 is enabled 1 Axis 1 Enabled This bit is set to 1 when axis 1 is enabled 2 Reserved 3 Reserved 4 Reserved 5 Pause This bit is set to 1 when the space bar is...

Page 38: ...R WORD 021AH 0538 02AAH 0682 OERR WORD 021CH 0540 02ACH 0684 MAXERR WORD 021EH 0542 02AEH 0686 I WORD 0220H 0544 02B0H 0688 DERIV WORD 0222H 0546 02B2H 0690 IMON WORD 0224H 0548 02B4H 0692 INTRVL BYTE...

Page 39: ...value n to the accumulator Command AC Accumulator Complement This command causes a bit wise 1 s complement of the accumulator Command ADn Accumulator Divide by n Signed Argument 2 147 483 647 n 2 147...

Page 40: ...he upper 32 bits in Register 1 Related Commands AD Command ANn And Accumulator with n Argument 2 147 483 647 n 2 147 483 647 This command causes the result of the accumulator ANDed with n to reside in...

Page 41: ...be evenly divisible by 2 Related Commands RB RW WB WL WW Command RWn Read Word 16 bits at RAM location n Argument 0 n 2046 This command reads the 16 bit value at internal RAM location n and copies it...

Page 42: ...ternal RAM location n Related Commands RB RL RW WL WW Command WLn Write Long 32 bits to RAM location n Argument 0 n 2046 This command copies all 32 bits of the accumulator to the internal RAM location...

Page 43: ...ion will be suspended until the condition becomes true Command DFn Do if I O Channel is Off Argument 0 n 63 This command will cause command execution to continue if I O channel n is Off otherwise the...

Page 44: ...I O Channel is Off Argument 0 n 63 If the I O channel specified by n is in the off state command execution will continue otherwise the next two commands in the command line or the macro will be skipp...

Page 45: ...mand is executed When that position has been reached the breakpoint reached flag in the status register will be set This command can b e issued before or after the servo has been commanded to move Rel...

Page 46: ...erse as compared to that of the IMCSA controller Related Commands FE Command WFn Wait for I O Channel Off Argument 0 n 63 Default Off This command waits until I O channel n is in the off state before...

Page 47: ...to determine when servo axis a has achieved the specified position n referenced by the current position when this command is executed Until that position has been reached command execution will be su...

Page 48: ...uses the current position of servo axis a that position reported by the Tell Position TP command to be stored in location n of the Learned Position Storage table This command is useful for teaching ta...

Page 49: ...o 5 When macro 5 is used via the Macro Call MC Macro Sequence MS or Macro Jump MJ commands the commands contained within the macro will be executed automatically There are a few necessary restrictions...

Page 50: ...ecified such that the command would attempt to jump past the end of the macro command execution will resume as if the macro had ended If n is specified such that the command would attempt to jump to a...

Page 51: ...t be the first command in the command line or an error will be reported Related Commands RM TM Command MJn Macro Jump Argument 0 n 255 This command may be used to Jump to a previously defined macro co...

Page 52: ...If n 1 then all the macros will be displayed preceded by the individual macro number If n 2 then all macros will be displayed and will be preceded by the letters MD and the individual macro number Th...

Page 53: ...s and the inputs will have been debounced if the Input Debounce ID command is in effect Related Commands BO Command BOn Bulk Output to I O Port n Argument 0 n 7 This command copies the low 8 bits of t...

Page 54: ...output state will depend on whether the channel is set active on or active off Related Commands CF CH CL Command IDn Input Debounce n milliseconds Argument 0 n 7 Default 0 This command determines the...

Page 55: ...the LAC 26 provides a proprietary high speed serial data bus Such uses might include various external devices such as thumb wheel switches LED or LCD displays switch panels and additional number or ty...

Page 56: ...mmand is used along with the Sequence Commands for conditional command execution Command BRn Set Baud Rate Argument 300 600 1200 2400 4800 9600 or 19 200 Default 9600 This command allows the user to c...

Page 57: ...16 bit variable RecAddr see Register commands is used to specify the location or address of the variable to be recorded The internal 16 bit variable RecSize is used to specify the data size If bit 0 o...

Page 58: ...mand DDn Dump Data Argument 0 n 16383 This command is used to dump data that has been previously recorded by the Capture Data CD command to the display The argument determines the number of recorded s...

Page 59: ...ts of the accumulator Unused bits will be set to 0 Related Commands TA Command Default HF Hardware Handshaking Off Hardware handshake off This command does not function and is retained for backward co...

Page 60: ...by CRLF MG0 Display contents of register 0 followed by CRLF MGN This command displays nothing followed by nothing MG THE BLACK BEAR IS 0 Display THE BLACK BEAR IS followed by the contents of register...

Page 61: ...nt is given and operator input is received then register 0 will be the default recipient of the input value The following are all the valid examples Note that the N option causes a CRLF Parameters mus...

Page 62: ...their default values Evidence of the baud rate change will not be immediate but will occur when the unit is either power cycled or the Reset RT command is issued This command is intended for use by t...

Page 63: ...f this boundary 7 OUT OF MACRO SPACE The LAC 26 allows for a maximum of 256 macros with up to 256 commands per macro a n d approximately 15800 bytes of macro storage space Each macro command requires...

Page 64: ...en using a MG or VI command no closing quote was encountered 14 MACRO STRING ERROR When using a MG or VI command in defining a macro no closing quote was encountered 15 SYNTAX ERROR Indicates the impr...

Page 65: ...ges between a CANopen host and CANopen nodes The messages contain information on specific drive functions each of which is defined by a group of objects An object is roughly equivalent to a memory loc...

Page 66: ...output a high torque command with little load resistance causing the motor to spin Note rapidly Therefore Current Torque Mode is recommended for applications using a digital position controller to mai...

Page 67: ...ll cause a difference between the command signal and the feedback signal called the error signal The drive compares the feedback signal to the command signal to produce the required output to the load...

Page 68: ...e motor velocity and physical location The actual motor speed and physical location can be monitored in DriveWare through the digital oscilloscope function Both the A and B channels of the encoder are...

Page 69: ...ge does not exceed 10 V and is connected to the DZ drive through the Programmable Analog Input In DriveWare the connection method that is used must be selected under the Position Loop Feedback options...

Page 70: ...position or Relative commands a pre defined move relative to the current position 5 3 6 Jogging DZ drives allow configuration of two separate Jog velocities in DriveWare commanding motion at a defined...

Page 71: ...delines that are useful when pairing a DZ servo drive with a motor The motor current IM is the required motor current in amps DC and is related to the torque needed to move the load by the following e...

Page 72: ...or a downward motion of the motor load will cause the system s mechanical energy to be regenerated via the drive back onto the power supply This regenerated energy can charge the power supply capacito...

Page 73: ...into the drive does not always equal the current out of the drive However the power in is equal to the power out Use the following equation to calculate the power supply output current IPS based on th...

Page 74: ...mperature Range Maximum Ambient C Maximum Ambient C DZ 012L080 Drive Models at 80VDC Z 020L080 Drive Models at 80VDC 1 The heatsink used in the above tests is 15 x 22 x 0 65 aluminum plate 2 For DZ 06...

Page 75: ...edure to follow when commissioning a DZ drive for the first time The DriveWare Software Manual contains more detailed information on each step 1 Check System Wiring Before beginning check the wiring t...

Page 76: ...hrough the motor windings This process ensures optimal torque or force generation at any motor position Single phase brushed motors accomplish this process with internal commutators built into the mot...

Page 77: ...ives can commutate trapezoidally when used with properly spaced Hall Sensors Unlike sinusoidal commutation current flows through only two motor phases at a time with trapezoidal commutation The Hall S...

Page 78: ...0 degree phasing TABLE 4 5 DigitalDependingDriveCommutationonthespecificSequencesetup theTablesequences maychange after running AutoCommutation 60 Degree 120 Degree Motor Hall 1 Hall 2 Hall 3 Hall 1 H...

Page 79: ...Home and Fault for each axis Analog Inputs 5 Channels With 10 Bit Resolution 3 are user accessible Analog Output2 1 Channels with 12 bits Resolution 10 VDC Expansion I O Optional Expansion to 64 I O...

Page 80: ...SMAC LAC 26 Technical Reference Manual 4 29 2013 78 Appendix 2 Outline drawing...

Page 81: ...SMAC LAC 26 Technical Reference Manual 4 29 2013 79...

Page 82: ...se B 9 Opto output 1 return 10 Axis 2 Fault input 10 Axis 1 Analog output 11 Axis 2 Limit Input 11 NC 12 Axis 1 Home Input 12 Analog input 0 13 Common 13 NC 14 Common 14 NC 15 Axis 2 Encoder phase A 1...

Page 83: ...SMAC LAC 26 Technical Reference Manual 4 29 2013 81 Appendix 4 Summary of LAC 26 Commands...

Page 84: ...voltage shutdown limit during deceleration or regeneration a shunt regulator may be necessary See Power Supply Specifications on page 17 for more information Under Voltage Shutdown Verify power supply...

Page 85: ...s Baud Rate and serial port are correct If unable to determine the appropriate settings the Auto Detect routine will automatically scan for serial port and Baud Rate settings Faulty connection cables...

Page 86: ...al ground is not connected to source signal ground Noisy command signal Check for system ground loops Mechanical backlash dead band slippage etc Noisy inhibit input line Excessive voltage spikes on bu...

Page 87: ...DA CB Ind Off L CRC Data CRC A5 3F 02 69 02 01 55 EF FC 0F A7 43 This example shows the data written to index 105 69h as 0FFC The drive previously had a value of 0FDC Bit 5 was enabled to activate th...

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