SMAC LAC-26 Manuel du produit

SMAC

LAC-26

ECHNICAL

EFERENCE

ANUAL

Revision 0, April 2013

SMAC CORP.

5807 Van Allen Way

Carlsbad, CA 92008

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

OPYRIGHT

UTOMATION

ODULES

, I

. 1993 - 2013

SMAC LAC-26 Technical Reference Manual

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TABLE OF CONTENTS

1. Introduction............................................................................................................................... 3

1.1 Specifications........................................................................................................................ 4

1.2 Digital I/O Interface............................................................................................................. 5

1.2.1 Dedicated Digital Inputs ............................................................................................... 5

1.2.2 General Purpose Inputs ................................................................................................. 5

1.2.3 General Purpose Outputs .............................................................................................. 6

1.2.4 Digital I/O "States" ....................................................................................................... 6

1.2.5 I/O Technical Specifications......................................................................................... 7

1.3 Encoder Interface ................................................................................................................. 7

1.4 Output Driver Interface........................................................................................................ 8

1.5 Analog to Digital Conversion (A/D) Interface .................................................................... 8

1.6 Serial Interface ..................................................................................................................... 8

2. Macro Interrupt System.......................................................................................................... 8

2.1 The Interrupt Vector Table .................................................................................................. 9

2.2 Enabling and Disabling Interrupts ....................................................................................... 9

2.3 Interrupt Sources.................................................................................................................. 9

2.4 Interrupt Priority ................................................................................................................ 10

2.5 Interrupt Completion.......................................................................................................... 10

2.6 Interrupt Latency................................................................................................................ 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 Internal Variables........................................................................................................ 33

4.5 Sequence Commands......................................................................................................... 41

4.6 Learned Position Storage (LPS) Commands ..................................................................... 46

4.7 Macro Commands.............................................................................................................. 47

4.8 Input / Output (I/O) Commands......................................................................................... 51

4.9 Future Expansion Interface ................................................................................................ 53

4.10 Serial Communications and Miscellaneous Commands.................................................. 54

5. AMC driver setup ................................................................................................................... 63

5.1 Communication Protocol .................................................................................................... 63

5.1.1 CANopen ..................................................................................................................... 63

5.1.2 RS-485 Communication............................................................................................... 63

5.2 Control Modes .................................................................................................................... 64

5.2.1 Current (Torque) or Profile Current (Torque) ............................................................. 64

5.2.2 Velocity or Profile Velocity......................................................................................... 64

5.2.3 Position or Profile Position .......................................................................................... 64

5.2.4 Cyclic Synchronous Modes ......................................................................................... 64

5.2.5 Feedback Supported..................................................................................................... 65

5.2.6 Feedback Polarity......................................................................................................... 65

5.2.7 Hall Sensors ................................................................................................................. 65

5.2.8 Encoder Feedback........................................................................................................ 66

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5.2.8 ±10 VDC Position........................................................................................................ 67

5.3 Command Sources .............................................................................................................. 67

5.3.1 ±10V Analog................................................................................................................ 67

5.3.2 Encoder Following....................................................................................................... 67

5.3.3 Over the Network......................................................................................................... 68

5.3.4 PWM and Direction ..................................................................................................... 68

5.3.5 Indexing ....................................................................................................................... 68

5.3.6 Jogging......................................................................................................................... 68

5.3.7 5V TTL Step and Direction (DZR 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 Features and Getting Started............................................................................................... 73

6.1.1 Initial Setup and Configuration.................................................................................... 73

6.1.2 Commutation................................................................................................................ 74

Appendix 1. Specification........................................................................................................... 77

Appendix 2 Outline drawing...................................................................................................... 78

Aooendix 3. Connector Pin Definitions.................................................................................... 80

Appendix 4 – Summary of LAC-26 Commands ...................................................................... 81

Appendix 5 AMC Driver Troubleshooting............................................................................... 82

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1. Introduction

The LAC-26 is a two axis stand-alone integrated controller / driver, with input / output (I/O) capabilities

similar to the LAC-25. The first axis is for the control of DC brush type motors or actuators with its

integrated driver. The second axis features a high power driver for 3 phase brushless, single phase

bushed, and voice coil inductive load motors.

The LAC-26 implements a mnemonic type command instruction set via a standard RS-232 serial

communications interface. These commands can be executed directly or used to create command

macros which are stored in the onboard 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 of optoisolated

digital output, with additional optoisolated inputs serving for limit, home and fault functions, 5 channels of

10-bit analog to digital (A/D) conversion (2 of which are reserved for monitoring amplifier output current),

and an RS-232 serial communications link. A proprietary RS-422 interface is provided for future I/O

expansion modules.

The LAC-25 controller card embedded within can control Digi Flex servo driver through the following I/O

ports. Digital Output 2 – starting auto commutation signal, Digital Output 3 – enable driver, Digital Input 3

– commutation successful signal from driver, and axis 2 analog output – commutation.

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1.1 Specifications

Description Stand-Alone 2 Axis Servo Motor Controller / Driver

Operating Modes Position, Velocity, Torque, Electronic Gearing

Control Algorithm PID

Max. Servo Loop Rate 100 µS per enabled axis

Servo Position Feedback Incremental Encoder with Index

Output (Standard) PWM Motor Drive, Single Phase (brushed), 3 Amps Cont. and 6 Amps Peak at

50 VDC Max.

PWM Frequency Approximately 19.531 KHz

Encoder and Index Input 5V Single-ended or Differential

Encoder Supply Voltage 5 VDC

Encoder Count Rate 2 Million Quadrature Counts per Second

Position Range 32 Bits

Velocity Range 32 Bits

Acceleration Range 32 Bits

General Purpose Digital I/O 3 Optoisolated inputs, 2 Optoisolated outputs

Dedicated Digital Inputs Limit+, Limit-, 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

Communication Interface RS-232

Supply Voltage +11 To +50 VDC

Motor Voltage +12 To +48 VDC

Dimensions 226mm Long by 88mm wide by 73mm Thick

Weight Approximately 1.2 Kg

2nd Axis Driver Specification

Description DigiFlex Servo Drive

Operation Mode Current Loop(50 us), Velocity Loop(100 us), Position Loop(100 us)

Command Source ±10 V Analog, 5V Step and Direction, Encoder Following, PWM and Direction

Feed Back Support Incremental Encoder (Max 20 MHz Quadrature), Halls, ±10VDC Position, Aux

Incremental Encoder

Commutation Methods Sinusodal, Trapezoidal

Output (Motor Supported) Single Phase Brushed, Voice Coil, Inductive Load ;

Three Phase (Brushless); 12A peak, 6A Continuous current

Communication Interface RS-232, RS-485

Supply Voltage +20 To +80 VDC

Logic Supply Voltage 5 VDC

Option 1

axis Configured

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1.2 Digital I/O Interface

The LAC-26 includes 4 channels of general purpose digital input and 4 channels of general

purpose digital output. Additionally, there are four channels of dedicated digital input for each of the two

axis'. All of these I/O are protected through the use of optoisolators.

1.2.1 Dedicated Digital Inputs

Figure 1 illustrates one of the LAC-26’s dedicated digital inputs. These inputs are Limit+, Limit-,

Home and Fault for both axis of the LAC-26. The power to activate these inputs is provided by the LAC-

26 so it is only necessary to complete the circuit to activate the input.

The Limit inputs are intended for signaling the LAC-26 that an axis has reached it’s end of travel.

When such an event occurs, the LAC-26 can ignore the event or stop the servo in some controlled

fashion. The Home input is for detecting some sort of "home position" sensor. This can be used with the

encoder index input to implement a very accurate homing method. 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 the onboard drivers.

When a fault condition occurs, that is either the internal over-temperature signal or external Fault

signal go active, the 16-bit internal variable FCNT (see Internal Variables) begins to increment at 1

rate of once per millisecond. If the fault condition clears then the FCNT variable is also cleared. If

the fault condition remains present long enough for the FCNT variable to count up to the value

assigned to the FCMP variable, then the over Fault bit in the status word will be set and the servo

will be disabled (assuming the Fault interrupt has not been enabled). The default value for FCMP

is 10000 which will give a 10 second delay before causing the Fault bit to be set.

Figure 1. LAC-26 Dedicated Input.

1.2.2 General Purpose Inputs

Figure 2 illustrates one of the LAC-26’s general purpose inputs. These inputs are galvanically

isolated from the LAC-26. Current of the proper polarity must be supplied to the circuit to activate the

input.

Figure 2. LAC-26 General Purpose Inputs

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1.2.3 General Purpose Outputs

Figure 3 illustrates one of the LAC-26’s general purpose outputs. These outputs are galvanically

isolated from the LAC-26. When an output is activated, positive current will flow from the collector of the

optocoupler transistor (the output pin) to it’s emitter (the output return pin),

Figure 3. LAC-26 General Purpose Output

1.2.4 Digital I/O "States"

There are several commands that deal with controlling the digital I/O. All of these commands

operate based on the following philosophy: With regard to an input, "active" means there is sufficient

current flowing through that input and "inactive" means there is lack of sufficient current through that

input. With regard to outputs, "active" means the ability for an output to pass current and "inactive" means

the inability for an output to pass current.

The Channel High (CH) and Channel Low (CL) commands provide the user with the ability to

determine whether a channel is active 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 they imply in that they will turn a given output either on or off,

which will make that output either active or inactive depending on the CH and CL commands as stated

previously.

The (CH) command causes the following interpretation of the inputs and outputs:

An "activated" output is considered to be ON (e.g., Channel On “CN” command).

An "inactivated" output is considered to be OFF (e.g., Channel Off “CF” command).

An "activated" input is considered to be ON (e.g., Do If On “DN” command).

An "inactivated" input is considered to be OFF (e.g., Do If Off “DF” command).

The (CL) command causes the following interpretation of the inputs and outputs:

An "activated" output is considered to be OFF (e.g., Channel Off “CF” command).

An "inactivated" output is considered to be ON (e.g., Channel On “CN” command).

An "activated" input is considered to be OFF (e.g., Do If Off “DF” command).

An "inactivated" input is considered to be ON (e.g., Do If On “DN” command).

Input Current

“CH”

“CL”

Output Current

“CH”

“CL”

Flowing

Off

Flowing

No Flow

Off

No Flow

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Table 2. I/O States.

Another feature of the digital input system is the ability for software input debouncing. All of the

general purpose digital inputs are automatically sampled once every millisecond. Depending on the

debounce delay set by the Input Debounce (ID) command, a given input must remain in the same state

during one or more samplings before it is considered valid. If an input were to be found in a changed state

during a sampling, the input would become invalid and the debounce delay would be restarted. If no or "0"

debounce delay is used, then no input debouncing is performed. For example: if a "ID5" command has

been issued, then a given input must remain in the same state for 5 samplings or for 5 milliseconds.

1.2.5 I/O Technical Specifications

1.2.5.1 General Purpose I/O Nominal Specifications.

Unit

Specification

Minimum voltage to activate input.

0.83

Input current at minimum activation voltage.

Maximum input voltage.

4.87

Input current at maximum voltage.

1.1

Maximum voltage to deactivate input.

Absolute maximum reverse input voltage.

Maximum voltage output can sustain.

100

Maximum current output can sustain.

Table 3: General Purpose I/O Specifications

1.2.5.2 Dedicated I/O Nominal Specifications.

Unit

Specification

Ω

Maximum external circuit resistance to activate

input.

K Ω

Minimum external circuit resistance to deactivate

input.

Table 4: Dedicated I/O Specifications

1.3 Encoder Interface

The LAC-26 has two channels of quadrature type encoder interface with optional index signal

input and the ability to supply +5 VDC at a minimum of 50 mA (or greater depending on other demands

put on the internal 5 VDC power supply). The phase A+ and phase B+ inputs are pulled up to +5 VDC

with 2.7K resistors, and the phase A- and phase B- inputs a biased at +2.5 VDC with 2.7K resistors. This

arrangement which will accommodate both open collector and totem pole single-ended output encoders

or differential output encoders. The phasing of the channels as well as the index signal sense can be

changed via program command.

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1.4 Output Driver Interface

The LAC-26 onboard output drivers are PWM switching amplifiers capable of supplying 3 Amps

continuous and 6 Amps peak (for 200 mS minimum) at a switching frequency of approximately 19.531

KHz. These drivers are intended for driving DC brush type motors or actuators. Both drivers share the

main power supply input and the peak voltage output to the motor will be nearly that of what is supplied.

The output drivers include an over-temperature sensor. If this sensor determines that the

amplifier’s temperature is greater than 140° C, the amplifier will then be disabled and the Over-

Temperature bit will be set in that axis' status word.

For applications requiring capabilities above those of the onboard drivers, the ability to interface

to external drivers is provided. This consists a 12-bit D/A ±10 VDC analog output signal for each axis. In

applications where external drivers are not required, the analog outputs can be used for other purposes

(e.g.,: oscilloscope monitoring of following error or output command).

1.5 Analog to Digital Conversion (A/D) Interface

The LAC-26 provides a 5 channel, 10 bit A/D conversion interface with a +10 VDC reference and

analog ground. For reverse compatibility purposes 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 drivers. The other channels are unavailable and

should be ignored.

Whenever a Tell Analog "TA" or Get Analog "GA" command is issued, the specified A/D channel

is converted and the result is either reported or stored for access by the user. Also, whenever the servo

loop for an axis is executed, the "current monitoring" channel for that axis is converted and the result is

stored for later access.

1.6 Serial Interface

The LAC-26 communicates with a host computer or a "dumb" terminal via an RS-232 serial

interface. The baud rate is user selectable from 300 to 19,200 baud with 9600 baud being the default.

Characters are fixed at 8 bits in length with 1 stop bit and no parity. Software XON / XOFF handshaking is

provided. Hardware handshaking is not supported at this time.

2. Macro Interrupt System

The LAC-26 employs a "Macro Interrupt System" to provide additional versatility in programming

the LAC-26. This system comprises 32 interrupt sources with corresponding vectors. When an interrupt's

source is enabled for operation and then becomes active, the current macro being executed is saved to a

so called macro stack and execution of the macro specified by that interrupt's vector table entry begins.

This happens to be similar procedure to that which the Macro Call (MC) command follows.

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