SMAC LCC-10 Product Manual
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SMAC LCC-10 Product Manual

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LCC-10
Product manual
Rev 1.0 Jan 2011

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Summary of Contents for SMAC LCC-10

  • Page 1 LCC-10 Product manual Rev 1.0 Jan 2011...
  • Page 2 SMAC rejects all liability for errors or omissions in the information or the product or in other documents mentioned in this document.

  • Page 3: Table Of Contents

    Contents Main features....................2 Specifications:..................3 Description....................4 Output driver interface ................4 Communication interfaces ..............6 Encoder interface.................11 General purpose digital inputs/outputs ..........13 Analog-to-digital converter interface (ADC) .........17 Digital-to-analog converter interface (DAC) .........18 Connectors ....................19 Rev 1.0 Jan 2011...
  • Page 4 Icons Icons that the reader may encounter in this manual are shown below, together with their meanings. Additional information Provides the user with tips, tricks and other useful data. Warning Provides the user with important information. Ignoring this warning may cause the device not to work properly.

  • Page 5: Main Features

    Main features This chapter outlines the main features and specifications of LCC-10 Summarized below is a functional block diagram for the LCC-10 motion controller and its main features. Figure 1: Block diagram of the system Chapter 1: Main features...

  • Page 6: Specifications

    Specifications: Description Slave or stand alone motion controller Profiled position, Profiled velocity, Profiled torque, Operating modes Interpolated position and Homing Permanent magnet synchronous motor (BLAC) and Motor types Brushed DC BLAC: Sinusoidal control with SVPWM modulation. Modulation and control DC: PWM modulation PID+FFV+FFA for position Filter algorithm PID+FFA for velocity...

  • Page 7: Description

    Description This chapter shows a description of the different functional blocks. Output driver interface The i116 output driver is a PWM switching amplifier capable of supplying 2A continuous and 4A peak (for 1 second max.) at a switching frequency of approximately 39KHz.
  • Page 8 The motor connector (shared with the power supply) is marked as J5 in the board. The pin out of this connector is shown in Table 2, and the voltage and current levels in Table 3 and Table 4 respectively: Type Description Input Ground...

  • Page 9: Communication Interfaces

    • CAN interface • RS-232 serial interface CAN interface The LCC-10 can communicate with a host computer via CAN interface. The CAN-Bus (Controller Area Network-Bus) is a serial communication protocol developed by Bosch for exchanging information between electronic control units on automobiles.
  • Page 10 Figure 6: For CAN communications, jumpers must be placed. Red points show pin number one. The LCC-10 is provided with two CAN connectors to simplify the cabling in multi-node configuration. In this mode, the previous node on the bus could be connected to J2 connector (IN), and next node on bus could be connected to J1 (OUT).
  • Page 11 RS-232 reception 232 TX Output RS-232 transmission Output Ground N.C. Table 6: J2 connector pin out The table below shows the LCC-10 motion controller pins related to CAN communications and their voltage ranges. Units CANH -7.5 -5..5 12.5 CANL -7.5 -5..5...
  • Page 12 Figure 9: For RS232 communications, jumpers must be taken off. Red points show pins number one. The LCC-10 is provided with two RS-232 connectors to allow daisy-chain configuration. In daisy-chain mode, the previous node on the bus could be connected to J2 connector (IN), and next node on bus could be connected to J1 (OUT).
  • Page 13 RS-232 reception 232 TX Output RS-232 transmission Output Ground N.C. Table 9: J2 connector pinout The table below shows the LCC-10 motion controller pins related to RS232 communications and their voltage ranges. Units 232 TX -13.2 -5…5 13.2 232 RX -5…5...

  • Page 14: Encoder Interface

    Encoder interface The LCC-10 has one differential quadrature encoder interface with optional index signal input. The high signals (AH, BH and ZH - index) are pulled up to +5VDC with 4K7 resistors, and low signals (AL, BL and ZL) are biased at 2.5VDC with 10K resistors. This arrangement let user to connect both;...
  • Page 15 The table below shows the LCC-10 motion controller pins related to encoder and their voltage ranges. Units AH, AL -0.3 0..5 BH, BL -0.3 0..5 ZH, ZL -0.3 0..5 Table 12: Encoder pins voltage range Figure 10: DB15 connector pinout.

  • Page 16: General Purpose Digital Inputs/Outputs

    General purpose digital inputs/outputs The LCC-10 is provided with 4 general purpose digital inputs and 4 general purpose digital outputs, all of them TTL compatible. General purpose inputs General purpose digital inputs are connected to the main processor through a 1K5 resistor that protects the processor from an over current.
  • Page 17 GPO 0 Output General purpose digital output 0 GPI 3 Input General purpose digital input 3 GPI 1 Input General purpose digital input 1 Output Ground GPO 3 Output General purpose digital output 3 GPO 1 Output General purpose digital output 1 Output 5VDC output Output...
  • Page 18 Units GPI 0 GPI 1 GPI 2 GPI 3 GPO 0 GPO 1 GPO 2 GPO 3 Table 15: GPIO maximum current levels Units IL max IH min GPI 0 0.66 GPI 1 0.66 GPI 2 0.66 GPI 3 0.66 Table 16: Logic levels at input pins Units OL max...
  • Page 19 Figure 13: DB26HD connector pinout. Chapter 2: Description...

  • Page 20: Analog-To-Digital Converter Interface (Adc)

    Analog-to-digital converter interface (ADC) The LCC-10 provides one channel, 10 bit A/D converter interface with a +5 VDC reference and analog ground. In order to get maximum accuracy, the impedance of the analog source should be less than 16K .

  • Page 21: Digital-To-Analog Converter Interface (Dac)

    Please note that these two are not available at the same time. LCC10 has 10 bit as default but is also available as 16 bit option with a hardware change. The table below shows the LCC-10 motion controller pin related to digital to analog conversion interface and its voltage range for both DAC options.

  • Page 22: Connectors

    In this chapter user can find the identifiers of the different connectors used in the LCC-10 controller. The table below shows the manufacturer and manufacturer identifier of all the connectors used on the LCC-10 controller. Possible mating connectors for all of them are also shown. Connector...

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