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SMAC

LAC-26 Technical Reference Manual

4/29/2013 13

Command:

aFAn -- Feed-forward, Acceleration --

Argument:

0 <= n <= 32767

Default:

This command allows for the adjustment of the PID digital filter acceleration feed-forward term for

servo axis 'a'.

During the course of a Position Mode (PM) or Velocity Mode (VM) move, at any point during

acceleration or deceleration (with a consistent load), the ideal required value of the servo output is fairly

consistent and somewhat predictable.

During acceleration or deceleration:

OUTPUT = (VELOCITY * FV_CONSTANT) + (ACCELERATION * FA_CONSTANT)

During constant velocity:

OUTPUT = (VELOCITY * FV_CONSTANT)

If this value can be dynamically predicted and summed with the output of the PID digital filter, in effect, it

reduces the burden of the PID filter to make lead/lag corrections based of the following error, thereby

enhancing performance.

Related Commands: FV, OM, OO

Command:

-- Fail Input Off --

Default:

Off

This command has no effect but is retained for backward compatibility purposes.

Command:

FN -- Fail Input On --

Default:

Off

This command has no effect but is retained for backward compatibility purposes.

Command:

aFRn

-- Set Derivative Sampling Period --

Argument:

0 <= n <= 127

Default:

This command allows for the adjustment of the derivative sampling interval for servo axis 'a'. The

period of this interval can be calculated by the following:

T = (n+1) * S * 0.000100

where "T" is the period in seconds, "n" is the FR command argument and "S" is the sample period count

specified by the Servo Speed (SS) command. For example, if the value previously set by the SS

command is 10 and the value set by the FR command is 1, then the derivative sample period will be:

(1+1) * 10 * 0.000100 = .002000 S or 2 mS

This command is useful in tuning the PID servo loop to the inertial properties of the system.

Related Commands: RI, SS

Содержание LAC-26

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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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