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 26
tick rate. Sometimes it is necessary to compensate the deadband region around zero PWM
output exhibited by some amplifier/motor combinations. The deadband compensation value
will be added to the magnitude of the PWM output to force the amplifier into its active region.
Stop Motor
Command value: 0x7
Number of data bytes: 1 or 5
Command byte:
0x17 or 0x57
Data bytes:
1. Stop control byte
Bit 0: Pic_ae (Power Driver enable)
1: Turn motor off
2: Stop abruptly
3: Stop smoothly
4: Stop here
5-7: Clear all to 0
2-5. Stopping position (only required if bit 4 above is set)
Description:
Stops the motor in the specified manner. If bit 0 of the Stop Control Byte is set, Power Driver
will be enabled. If bit 0 is cleared Power Driver will be disabled, regardless of the state of the
other bits. Pic_ae also controls the meaning of bit 3 (Power_on), bit 5, and bit 6 of
Status
Byte
. If bit 1 is set, the position servo will be disabled, the PWM output value will be set to 0,
and bits 2, 3, and 4 are ignored. If bit 2 is set, the current command velocity, and the goal
velocity will be set to 0, the position servo will be enabled, and velocity mode will be entered. If
the velocity servo was previously disabled, the motor will simply start servoing to its current
position. If the motor was previously moving in one of the profiling modes, it will stop moving
abruptly and servo to its current position. This stopping mode should only be used as an
emergency stop where the motor position needs to be maintained. Setting bit 3 enters a more
graceful stop mode - this sets the goal velocity to 0 and enters velocity mode, causing the
motor to decelerate to a stop at the current acceleration rate. If bit 4 is set, the motor will move
to the specified stopping position abruptly with no profiling. This mode can be used to cause
the motor to track a continuous string of command positions. Note that if the stopping position
is too far from the current position, a position error will be generated
.
Only one of the bits 1, 2,
3 or 4 should be set at the same time. The
Stop Motor
command must be issued initially to set
Pic_ae before other motion commands are issued.
I/O Control
Command value: 0x8
Not used.
