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 33
Examples of Managing Two Servo-Drives
# 1 – Resets all modules with group command.
# 2 and # 3 - Set the addresses of drives 1 and 2.
# 4 and # 6 - Set PID parameters of drives 1 and 2.
# 6 and # 7 - Starts motion in trapezoidal mode with target position=0, velocity=0,
acceleration=1 and PWM=0.
# 8 and # 9 - Close servo loops of drives 1 and 2. Initialization is complete at this point.
# 10 and # 10 - Load trajectories (positions, velocities and accelerations) for drives 1 and 2.
# 12 and # 13 - Load and execute new trajectory for drive 1.
# 14 and # 15 - Read additional status bytes from drives 1 and 2.
# 16, # 17 and #18 - Load new trajectories for drives 1 and 2 and execute them with one
command sent to the drives’ group address.
Examples
#
Hexadecimal code of
command
Comments
1
AA FF 0F 0E
Hard Reset
2
AA 00 21 01 FF 21
Set Address
01h for drive 1. Group address=FFh.
3
AA 00 21 02 FF 22
Set Address
02h for drive 2. Group address=FFh.
4
AA 01 E6 64 00 00 04 00 00
00 00 FF 00 00 08 01 00 57
Set Gains
of drive 1 – defines PID parameters: KP=64h,
KI=400h, KI=00h, IL=00h, OL=FFh, CL=00h, EL=800h,
SR=01h, DC=00h.
5
AA 02 E6 64 00 00 04 00 00
00 00 FF 00 00 08 01 00 58
Set Gains
of drive 2 – defines PID parameters: KP=64h,
KI=400h, KI=00h, IL=00h, OL=FFh, CL=00h, EL=800h,
SR=01h, DC=00h.
6
AA 01 E4 9F 00 00 00 00 00
00 00 00 01 00 00 00 00 85
Load trajectory
for drive 1 – target position=0, velocity=0,
acceleration=1, PWM=0 and start motion now
7
AA 02 E4 9F 00 00 00 00 00
00 00 00 01 00 00 00 00 86
Load trajectory
for drive 2
– target position=0, velocity=0,
acceleration=1, PWM=0 and start motion now
8
AA 01 17 05 1D
Stop
Motor -
closes servo loop of drive 1 with
Power Driver
enable
and
Stop Abruptly
in Command byte.
9
AA 02 17 05 1E
Stop
Motor -
closes servo loop of drive 2 with
Power Driver
enable
and
Stop Abruptly
in Command byte.
10 AA 01 E4 9F 00 00 00 00 00
80 01 00 64 00 00 00 00 69
Load Trajectory
of drive 1 with Pos=0000h, Vel=18000h,
Acc=6400h, PWM=00h, servo mode=1.
11 AA 02 E4 9F 00 00 00 00 00
80 01 00 64 00 00 00 00 6A
Load Trajectory
of drive 2 with Pos=0000h, Vel=18000h,
Acc=6400h, PWM=00h, servo mode=1.
12 AA 01 54 11 00 28 00 00 8E
Load Trajectory
of drive 1 with new position=2800h.
13 AA 01 05 06
Start Motion -
executes previously loaded trajectory.
14 AA 01 13 05 19
Read Status
from drive 1 (plus position and velocity).
15 AA 02 13 05 1A
Read Status
from drive 2 (plus position and velocity).
16 AA 01 54 11 20 4E 00 00 D4
Load Trajectory
of drive 1 with new position=4E20h.
17 AA 02 54 11 E0 B1 FF FF F6
Load Trajectory
of drive 2 with new
position=FFFFB1E0h (-4E20h).
18 AA FF 05 04
Start Motion –
executes previously loaded trajectories.
The command is sent to the drives’ group address FFh.
