Logosol Multifunctional Servo Drive LS-231g2SB
Doc # 712231006 / Rev. B, 12/26/2017
Logosol, Inc.
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2833 Junction Ave., Ste. 101
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San Jose, CA 95134
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Tel: (408) 744-0974
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www.logosolinc.com
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Acceleration is given in encoder counts per servo tick per servo tick, multiplied by 65536. The PWM value
(range 0x0000 - 0xFFFF), used only when the position servo is not operating, sends a raw PWM value
directly to the amplifier. The PWM value is reset to 0 internally on any condition, which automatically disables
the position servo.
Bit 4 of the control byte specifies whether the position servo should be used or if the PWM mode should be
entered. Bit 5 specifies whether a trapezoidal profile motion should be initiated or if the velocity profiler is
used. Trapezoidal profile motions should only be initialized when the motor velocity is 0. (Bit 0 of the status
byte indicates when a trapezoidal profile motion has been completed, or in velocity mode, when the
command velocity has been reached.) Bit 6 indicates the velocity or PWM direction. If bit 7 is set, the
command will be executed immediately. If bit 7 is clear, the command data will be buffered and it will be
executed when the
Start Motion
command is issued. For example to load only new position data and
acceleration data but not to start the motion yet, the command byte would be 0x94, the control byte would
be 0x15, followed by 4 bytes of position data (least significant byte first), followed by 4 bytes of acceleration
data.
Start Motion
Command value:
0x5
Number of data bytes:
0
Command byte:
0x05
Description:
Causes the trajectory information loaded with the most recent Load Trajectory command to execute. This
is useful for loading several Drives with trajectory information and then starting them simultaneously with a
group command.
Set Gain
Command value:
0x6
Number of data bytes:
14
Command byte:
0xE6
Data bytes:
1,2.
Position gain KP (0 - 0x7FFF)
3,4.
Velocity gain KD (0 - 0x7FFF)
5,6
Integral gain KI (0 - 0x7FFF)
7,8.
Integration limit IL (0 - 0x7FFF)
9.
Output limit OL (0 - 0xFF) (typically recommended 0xFA)
10.
Current limit CL (0 - 0xFF) (only odd values)
11,12 Position error limit EL (0 - 0x3FFF)
13.
Servo rate divisor SR (1 - 0xFF)
14.
Not used
Description:
Sets all parameters and limits governing the behavior of the position servo. KP, KD, KI and IL are PID filter
parameters. OL limits the maximal PWM output value to 0<PWM
≤
OL in position servo modes. In PWM
mode OL is ignored. CL is used for motor current limitation (refer to
Motor current monitoring
in
Safety
Features
for detailed information). Setting CL=0 effectively disables current limiting. The position error limit
(EL) will cause the position servo to be disabled should the position error grow beyond the limit. The servo
rate divisor sets the servo tick time to be a multiple of 51.2 uSec (19.531) KHz). For example SR=3 gives a
servo rate of 6510 Hz. The servo tick rate is also used as the profiling time base, although command
processing is always performed at the maximum tick rate.
