LA Series Linear Servo Amplifier Technical Reference Manual
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5 Operational Description
Before applying power to the amplifier be sure to read all sections in this document.
Upon power up of the +/- 15V bias supply, the amplifier derives all the necessary internal
voltages for operation related to the logic and output drivers. Once the proper levels are
achieved, the DSP is released from reset and begins operation. A series of internal checks are
done to insure the DSP is operating correctly. The I/O is initialized for operation if these checks
pass. The NVM is then read and the stored checksum is verified. If the system is setup to use
jumpers, the jumpers are read; otherwise the parameter information from NVM is used. The
analog balance network is set to the stored balance values. The version and revision number
for the software is flashed on the display and the serial sign on message is sent.
The state of the Enable input is read to determine whether the hardware enable input or
the software serial enable command should be used to enable the drive. If the hardware Enable
input is open (high) the system allows software to control the Enable operation via the E
command. If at anytime during operation the Enable input goes low, the software mode is
cancelled and the hardware Enable input is used for control. The initialization process is now
complete and the software enters main loop processing.
During main loop processing, the software runs in an endless loop performing the tasks
necessary for drive operation. Once per pass in the main loop, the 7-segment LED and status
port are updated, the inputs are scanned and the protective algorithm calculations are
performed. In addition to the main loop processing, interrupts are enabled to handle such
actions as Limit input processing for Hall mode, A/D processing for all system voltages and
currents, and serial communication if used.
If at anytime during operation a fault occurs, the drive will immediately disable the motor
windings, set the Fault output active and display the fault code on the LED display. A message
will also be sent over the serial interface annunciating the fault. The “A” command can also be
used to obtain fault information.
Note that bias power (+/-15V) is always required for the drive to operate. Bus power is
only required if a motor is to be used. This allows the drive to be set up away from the actual
system using only the bias supply.
6 Jumper Settings
The next few pages define the jumper settings for each model amplifier. The settings for the
over current trip levels are different for each model, depending on the number of outputs and
the heatsink configuration. All other settings are identical for each model.
Jumper settings are only updated following a reset or POR of the drive.
If no jumpers are installed on JP1, JP2 and JP3, the parameters will be set via software.
Note 1: If using jumpers in Sine Mode with minimum settings (no jumpers), install a jumper on
JP1-G to force the drive to use the jumper settings. This prevents the drive from using software
settings as described in Note 2.
Note 2: JP1H and JP2-A are not used in single-phase mode models.
