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Logosol LS-221-BL Technical Reference

Two-axis sinusoidal brushless servo controller with built-in power amplifiers
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Two-Axis Sinusoidal Brushless
Servo Controller With Built-In
Power Amplifiers
LS-221-BL
Technical Reference
Document No 710220125 / Rev. 1.1 - April, 1999

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Summary of Contents for Logosol LS-221-BL

  • Page 1 Two-Axis Sinusoidal Brushless Servo Controller With Built-In Power Amplifiers LS-221-BL Technical Reference Document No 710220125 / Rev. 1.1 - April, 1999...
  • Page 2 T h e in fo rm a tio n in th is d a ta b o o k h a s b e e n c a re fu lly c h e c k e d a n d is b e lie v e d to b e re lia b le , h o w e v e r, n o re s p o n s ib ility c a n b e a s s u m e d fo r in a c c u ra c ie s .

  • Page 3: Table Of Contents

    C o n te n ts 1. OVERVIEW ............................2 2. REQUIREMENTS...........................4 3. INSTALLATION ............................5 4. BOARD DESCRIPTION..........................6 4.1. Memory Map ............................8 4.2. Base Module.............................8 4.2.1. Servo Channels..........................9 4.2.2. Built-in Power Amplifiers......................10 4.2.3. Digital Outputs and Outbound Power ..................12 4.2.4.

  • Page 4: Overview

    LS-221-BL Technical Reference 1. OVERVIEW L o g o s o l L S -2 2 1 -B L is a p re c is io n h ig h ly in te g ra te d 2 -a x is d ig ita l s e rv o c o n tro lle r w ith b u ilt-in p o w e r a m p lifie rs .
  • Page 5 LS-221-BL Technical Reference max current per output max current per board 3 relay controlled 24 V power supplies relay type OMRON G6B max current 5A/30V DC contact resistance 30mΩ mechanical contact reliability 20 x 10 P o w e r R e q u ire m e n ts +5V ±...

  • Page 6: Requirements

    LS-221-BL Technical Reference 2. REQUIREMENTS Logosol LS-221-BL is a plug-in board for a standard ISA bus system. To operate LS-221-BL, the following requirements must be fulfilled. • IS A b u s s ys te m . • O n e fre e 8 -b it o r 1 6 -b it b u s s lo t. L S -2 2 1 -B L its e lf re q u ire s s p a c e fo r tw o s in g le P C -b o a rd s , th o u g h o n ly o n e b u s s lo t c o n n e c to r is o c c u p ie d •...

  • Page 7: Installation

    LS-221-BL Technical Reference 3. INSTALLATION Note : LOGOSOL assumes no responsibility for any damage occurred to your system or your health, due to improper installation. LS-221-BL is a professional industry application product and is designed to be operated by electronic engineers only.

  • Page 8: Board Description

    9729100b Figure 1: LS-221-BL main components T o d e liv e r a m a x im u m p e rfo rm a n c e a n d fle x ib ility L S -2 2 1 -B L is d e s ig n e d u s in g th e la te s t te c h n o lo g ie s .
  • Page 9 . A d e d ic a te d d ia g n o s tic lo g ic a llo w s to id e n tify th e re a s o n fo r b re a k in g o f th e s e rv o lo o p (a m p lifie r d is a b le ). 9729105b Figure 2: LS-221-BL block diagram Doc. #710220125...

  • Page 10: Memory Map

    ID5 = 1 ID4 = 1 Table 1: LS-221-BL Memory Map 4.2. Base Module T h e m a in p a rt o f L S -2 2 1 -B L s e rv o c o n tro lle r is th e B a s e M o d u le (B M ). It c a rrie s th e m o tio n c o n tro l p ro c e s s o r, P W M p o w e r a m p lifie rs , o p to is o la te d d ig ita l o u tp u ts , a n d s e rv o c o n tro l a n d d ia g n o s tic lo g ic .

  • Page 11: Servo Channels

    LS-221-BL Technical Reference J 1 JU M P E R B L O C K (I/O A D D R E S S ) C N 1 (IN T E R F A C E B O A R D )

  • Page 12: Built-In Power Amplifiers

    LS-221-BL Technical Reference e n c o d e r fe e d b a c k s ig n a l. T h e e n c o d e r d e liv e rs tw o 9 0 p h a s e s h ifte d s ig n a ls to d e te rm in e th e s p e e d a n d d ire c tio n o f th e m o to r's m o tio n .
  • Page 13 LS-221-BL Technical Reference M O T O R P O W E R (F L O AT IN G ) + 5 V C H A N N E L #0 P O W E R A M P L IF IE R...

  • Page 14: Digital Outputs And Outbound Power

    LS-221-BL Technical Reference T h e o u tp u t c u rre n t fro m e a c h h a lf H -b rid g e is c o n tin u o u s ly m o n ito re d b y a p ro te c tio n lo g ic a n d m a y b e lim ite d to a v a lu e a d ju s ta b le in th e ra n g e o f 2 ÷1 0 A .
  • Page 15 LS-221-BL Technical Reference 9729901 Figure 5: Digital outputs and outbound power sources T h e o u tp u ts a re o p e n c o lle c to r tra n s is to rs c o n n e c te d to th e g ro u n d o f th e o p e ra tin g v o lta g e .

  • Page 16: Servo Control And Diagnostic

    LS-221-BL Technical Reference 4.2.4. Servo Control and Diagnostic T h e s e rv o c o n tro l a n d d ia g n o s tic lo g ic a llo w s th e h o s t to s e t u p th e c o n tro lle r a n d to k e e p tra c k o f th e c u rre n t L S -2 2 1 -B L s ta tu s .
  • Page 17 LS-221-BL Technical Reference 9729302b Figure 6: Servo control and diagnostic T h e re a re s e v e ra l s o u rc e s th a t c a n c a u s e s e rv o lo o p to b re a k .
  • Page 18 LS-221-BL Technical Reference d is a b le d . A ll d ig ita l o u tp u ts a re s h o rt c irc u it p ro te c te d . If a n y o f th e m is o v e rlo a d e d , a ll o u tp u ts a re d is a b le d a n d O P F is s e t to lo g ic o n e .

  • Page 19: Amplifiers Current Control

    LS-221-BL Technical Reference 4.2.4.3. Amplifiers Current Control The output of each amplifier is protected against short circuit or overload. The current delivered to the load is constantly monitored and compared to a limit that can be set individually for each axis. The current may be limited to a value in the range of 2÷10 A with 4-bit precision.

  • Page 20: Board Identifier

    LS-221-BL Technical Reference 4.2.5. Board Identifier D u e to its fle x ib le a rc h ite c tu re a n d IS P (In S ys te m P ro g ra m m a b le ) c a p a b ility, L S -2 2 1 -B L a llo w s fa s t a n d e a s y c u s to m iz a tio n s .
  • Page 21 LS-221-BL Technical Reference O U T 0 O U T 1 O U T 2 O U T 3 O U T 4 O U T 5 O U T 6 O U T 7 E M E R G E N C Y S T O P...

  • Page 22: Cn3 Connector (External Power)

    LS-221-BL Technical Reference 4.2.6.1. CN3 Connector (External Power) E M E R G E N C Y S T O P O P E R AT IN G P O W E R G R O U N D (...

  • Page 23: Cn2 Connector (Outputs & Outbound Power)

    LS-221-BL Technical Reference 4.2.6.2. CN2 Connector (Outputs & Outbound Power) 1 4 - O U T 0 1 3 - O U T 1 1 2 - O U T 2 11 - O U T 3 1 0 - O U T 4...

  • Page 24: Input Board

    LS-221-BL Technical Reference 4.3. Input Board L S -2 2 1 -B L is d e s ig n e d a s m u ltip u rp o s e m o tio n c o n tro lle r. T o in c re a s e c o n tro lle r fle x ib ility, a ll in p u t c irc u its a re lo c a te d o n a s e p a ra te b o a rd - in p u t b o a rd (IB ).
  • Page 25 LS-221-BL Technical Reference 9737904b Figure 12: LS-421-2112 Input Board block diagram Doc. #710220125...

  • Page 26: Digital Optoisolated Inputs

    LS-221-BL Technical Reference 4.3.1. Digital Optoisolated Inputs A ll 1 6 in p u ts IN 0 ÷IN 1 5 m a y b e u s e d a s g e n e ra l-p u rp o s e in p u ts , a lth o u g h s o m e o f th e m m a y h a v e a d d itio n a l fu n c tio n s .
  • Page 27 9737905 Figure 14: LS-221-BL input connection diagram A P E 0 , A P E 1 a re d e s ig n e d to w o rk a s d a ta in p u ts fo r A b s o lu te P o s itio n E n c o d e rs (A P E ).

  • Page 28: Hall-Sensor Inputs

    LS-221-BL Technical Reference When input is activated (i.e. the sensor is closed) the corresponding input register bit is set to logic zero. For non-activated inputs register bits are set to logic one. 4.3.1.2. Hall-sensor Inputs L S -4 2 1 -2 1 1 2 is e q u ip p e d w ith s ix (th re e p e r a x is ) d e d ic a te d in p u ts fo r H a ll-s e n s o rs . T h e in p u ts u s e + 5 V p o w e r s u p p ly.

  • Page 29: Emergency Stop Inputs (Optional)

    LS-221-BL Technical Reference PCS3 PCS2 PCS1 PCS0 Channel#0 Channel#1 Active level IN 6 IN 6 L o w IN 6 IN 6 H ig h IN 7 IN 7 L o w IN 7 IN 7 H ig h R e se rve d...

  • Page 30: Multi-Turn Absolute Encoder Receiver

    LS-221-BL Technical Reference T o p re v e n t v o lta g e d ro p a c ro s s lo n g in te rfa c e c a b le s , L S -2 2 1 -B L p ro v id e s + 9 V fo r e n c o d e r p o w e r.
  • Page 31 LS-221-BL Technical Reference R/W access Base Addr + 0x404 Read APE D7 APE D6 APE D5 APE D4 APE D3 APE D2 APE D1 APE D0 Base Addr + 0x405 Read APE D15 APE D14 APE D13 APE D12 APE D11 APE D10 APE D9 APE D8...

  • Page 32: Interface Wiring

    It is mounted on the front panel and is connected to the controller with a set of wires (user harness). The LS-221-BL standard interface wiring is shown below.

  • Page 33: Power Supply

    LS-221-BL Technical Reference 4.5. Power Supply L S -2 2 1 -B L c o n tro lle r re q u ire s tw o e x te rn a l p o w e r s u p p lie s - o p e ra tin g p o w e r (2 4 V D C ) a n d m o to r p o w e r (2 4 ÷8 0 V D C ).

  • Page 34: Board Setup

    LS-221-BL Technical Reference 5. BOARD SETUP 5.1. Base I/O Address U p to 8 b o a rd s m a y b e in s ta lle d in o n e c o m p u te r.

  • Page 35: Current Limit Mode

    LS-221-BL Technical Reference 5.3. Current Limit Mode C U R R E N T L IM IT J U M P E R O P E N S H U T D O W N J U M P E R C L O S E D...

  • Page 36: Application Notes

    LS-221-BL Technical Reference 6. APPLICATION NOTES A97 2900 2 Figure 25: Absolute encoder sample wiring Doc. #710220125...

  • Page 37: Basic Control Procedures

    LS-221-BL Technical Reference 7. BASIC CONTROL PROCEDURES T h is s e c tio n s h o w s a lg o rith m flo w c h a rts fo r s o m e b a s ic c o n tro l p ro c e d u re s .

  • Page 38: B O A Rd In Itia Liza Tio N A N D P O W E R O N

    LS-221-BL Technical Reference 7 .2 . B o a rd In itia liza tio n a n d P o w e r O n Start RST == 0 MC1231A is already initialized Initialize MC1231A Error initializing MC1231A Init == OK Set RST = 1;...

  • Page 39: Enable Amplifiers

    LS-221-BL Technical Reference 7.3. Enable Amplifiers Start AE == 1 The amplifiers are already enabled SPS == 1 SPS is not activated OPF == 0 Operating Power or Motor Power & are missing MPF == 0 Send STOP Command to MC1231A...

  • Page 40: Disable Amplifier

    LS-221-BL Technical Reference 7.4. Disable amplifier Start Disable EN ADI (EN ADI=0) Deactivate AE (AE=0) Doc. #710220125...

  • Page 41: Diagnostic - Finding Out The Reason Caused Amplifier Disable

    LS-221-BL Technical Reference 7.5. Diagnostic – Finding Out the Reason Caused Amplifier Disable Start Amplifier is enabled AE ==1 EMG(L) ==1 Update status: Emergency Stop activated Update status: Emergency Input activated STP(L) == 1 MPF(L) == 1 Update status: Motor Power Failure...
  • Page 42 Logosol, Inc. 1155 T asman Driv e Sunny v ale, CA 94089 Document No 710220125 T el: (408) 744 0974 © 1999 Logosol, Inc. Fax: (408) 744 0977 Printed in USA Http://www.logosolinc.com...

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