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progressive automations PA-12 Manual

Position control communication protocol
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PA-12
Position Control
Communication Protocol
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Summary of Contents for progressive automations PA-12

  • Page 1 PA-12 Position Control Communication Protocol Scan for more information...

  • Page 2: Table Of Contents

    5. Optional Accessories Metal Bracket PC USB Interface Arduino Actuator Tester Shield 6. Warranty Have any queries? Our expert engineers are here to help! sales@progressiveautomations.com progressiveautomations.com 1-800-676-6123 P a g e | 2 Progressive Automations – Position Control Communication Protocol...

  • Page 3: Before Use

    3. Product lifespan may vary based on the load applied, duty cycle, etc. 1) Usage below rated force capacity. For instance, the rated force of our PA-12-10645012R is 4.50lbs. Using the PA-12-10645012R in applications that experience force conditions below 4.50lbs will maximize the product lifespan.

  • Page 4: Storage

    DO NOT touch the actuator case right after actuator operation. It might be hot. 10. Keep away from water, humidity, dust, and oil. 11. Do not use outdoors. PA-12 is only designed for indoor use. 12. Keep out of children’s reach. Keep hands off the actuator motor during operation.

  • Page 5: Important Note (Overload Protection/Force-Off)

    Caution 2) Each time the overload shutdown is executed, the cause of overload may eventually lead to motor damage. Therefore, the cause of overload must be removed after the first overload shutdown so future shutdowns do not occur. P a g e | 5 Progressive Automations – Position Control Communication Protocol...
  • Page 6 0x00 0x04 0xF3 0x12 0x20 0xD6 USE WITHIN RATED LOAD For proper performance and better lifespan, we recommend using the actuator within its rated load range. Caution P a g e | 6 Progressive Automations – Position Control Communication Protocol...
  • Page 7 The Force-OFF feature can be available for the actuators having the “mechanical self-lock” feature. Please see the chart below to see availability. (The chart shows self-lock force of 1.06” stroke PA-12-R only. Refer to the separate actuator specifications for the self-lock force of 2.20” stroke models.)

  • Page 8: Basic Info

    1.06”. Users may extend it to 1.18” using our Actuator manager software if necessary. (For better mechanical stability, 1.06” is recommended.) [2.20 " Model] P a g e | 8 Progressive Automations – Position Control Communication Protocol...

  • Page 9: Application

    Linear Position Control for Medical Devices (HIFU, etc.) • Camera or Laser Focusing Control • Laboratory Test Equipment Education / Hobby • 3D Printer • Arduino or Raspberry Pi Control • Maker's DIY Project P a g e | 9 Progressive Automations – Position Control Communication Protocol...

  • Page 10: Actuator Control

    At any time during communication, one device must transmit while the other one receives, and vice-versa. For this reason, if you are trying to communicate with a PA-12 through a full-duplex serial COM device, you will need to use a buffer in between (we recommend implementing a 74LVC2G241 chip).
  • Page 11 RS-485 - 4Pin Connector for PA-12-R Our PA-12-R uses RS-485 communication. For RS-485 type actuators, we recommend using the MAX485 chip as a buffer between a full-duplex controller and the half-duplex PA-12 device. Of course, communication devices that are themselves half-duplex would have no problem communicating with PA-12 directly.

  • Page 12: Communication

    1) Communication specification • 2 in One Mode (Pulse / Data Mode Auto-Switching) The PA-12-T will automatically recognize the input signal between data mode (TTL) and pulse mode (PWM). • Data Mode (TTL or RS-485) Asynchronous Serial communication (8 bit, 1 Stop bit, Non-Parity)
  • Page 13 RS-485 node regulation. Caution • As the factory default ID is 0, please assign different individual IDs for each actuator from 1~253 for daisy chain connection. P a g e | 13 Progressive Automations – Position Control Communication Protocol...

  • Page 14: Packet Description

    • Packet length in Byte unit. • Data counting value after "Size" data (COMMAND+FACTOR+CHECKSUM). • That is, Size value = Number of byte of "Factor" + 2 P a g e | 14 Progressive Automations – Position Control Communication Protocol...
  • Page 15 FACTOR #m Parameter FACTOR #N Last Parameter Check Sum = 0xFF - (LOWER_BYTE (ID + SIZE + ERROR + FACTOR#1 + 5+N+1 Check Sum … + FACTOR#N)) P a g e | 15 Progressive Automations – Position Control Communication Protocol...
  • Page 16 Here is the formula for above. LOWER_BYTE (ID + SIZE + ERROR+ FACTOR#1 + … + FACTOR#N) == (ID + SIZE + ERROR+ FACTOR#1 + … + FACTOR#N)% 0x100 P a g e | 16 Progressive Automations – Position Control Communication Protocol...

  • Page 17: Data Map

    Position P Gain Proportional Gain Each SPEC 46 (0x2E) Min Posi�on Calibra�on Min Posi�on Value Trim Each SPEC 47 (0x2F) Max Posi�on Calibra�on Max Posi�on Value Trim Each SPEC P a g e | 17 Progressive Automations – Position Control Communication Protocol...

  • Page 18: Data Description

    0 (0x00) 4) DATA DESCRIPTION Non-Volatile Memory 1. Model Number Model number refers to PA's actuator model. For example, PA-12-10645012R. 2. Version of Firmware Shows the current firmware version of the selected actuator. 3. ID [0~254 / Default: 0] ID to discriminate each actuator. Different IDs should be assigned in Daisy-Chain system.
  • Page 19 Sending Feedback Packet only for Load Data Command. Sending Feedback Packet for all Commands. Under Broadcast ID (0xFE) mode, Feedback Packets will NOT be sent regardless of the Feedback Return Mode values. P a g e | 19 Progressive Automations – Position Control Communication Protocol...
  • Page 20 Overload Error Input Voltage Error using our PA-12 manager software, but please consider carefully. Alarm Shutdown is a non-volatile memory area. If you change the data, communication may stop for a short time during the saving process. Therefore, please be careful of frequent value changes during operation.
  • Page 21 Therefore, please be careful of frequent value changes during operation. When correcting Acceleration/Deceleration, test after applying a small change. P a g e | 21 Progressive Automations – Position Control Communication Protocol...
  • Page 22 • For example, if the Min Position Calibration value at Min Position 0.15” of PA-12-10645012R is 5, increasing the Min Position Calibration value increases the Min Position value and the entire stroke range will be reduced as the Min Position increases.
  • Page 23 The mechanical design of our PA-12 allows it to keep its position even after motor power loss. For instance, the PA-12 experiencing 9lbs force against the rod will stick to its position firmly after motor power is off. So, in case the actuator needs to keep a certain position (if mechanical frictional force is able to keep its position under power-off condition against your load), apply the FORCE OFF parameter.

  • Page 24: Command Example

    0x00 0xFD This is the feedback packet to inform the receipt of a restart command for the actuator system (respond in the Feedback Return Mode 2 only). P a g e | 24 Progressive Automations – Position Control Communication Protocol...
  • Page 25 Data #1: Desired Motor Operating value’s lower byte (address 0x0E: 0x00) Data #2: Desired Motor Operating value’s upper byte (address 0x0F: 0x02) ◦ Motor Operating value hex change (decimal to hexadecimal): 512 → 0x0200 P a g e | 25 Progressive Automations – Position Control Communication Protocol...
  • Page 26 Address: The address at which the Force On/Off value is saved (see (3) Data Map) Data: Desired Force On/Off data byte (address 0x86: 0x00(Off)/ 0x01(On)) After Force-Off, automatically Force-On when the next goal position command is made. P a g e | 26 Progressive Automations – Position Control Communication Protocol...
  • Page 27 Factor 1: Present position value’s lower byte (ex> 0xFF) Factor 2: Present position value’s upper byte (ex> 0x07) ◦ Present position value hex change (hexadecimal to decimal): 0x07FF → 2047 P a g e | 27 Progressive Automations – Position Control Communication Protocol...
  • Page 28 Factor #3 Checksum Address Data #1 Data #2 0xFFFFFF 0x01 0x05 0xF4 0x86 0xFF 0x07 0x79 Command packet for the temporary storage of goal position as 2047 (0x07FF) P a g e | 28 Progressive Automations – Position Control Communication Protocol...
  • Page 29 Address: The address at which the present position value is saved (see (3) Data Map) Length: The number of bytes to read from the Address (present position value consists of 2 bytes) Feedback Packet: Does not have feedback P a g e | 29 Progressive Automations – Position Control Communication Protocol...

  • Page 30: Optional Accessories

    1.06" stroke. It will not fit models with a 2.20" stroke. The set comes with a top and bottom mounting piece that attaches to the actuator with the included screws. This bracket set provides stability as well as protection for the PA-12 actuator.

  • Page 31: Pc Usb Interface

    The PRT-12 is an alternative fisheye steel mounting end for our PA-12 linear actuators. These are ideal for when you require a unique mounting option for the PA-12 actuator. It comes with two mounting holes, one for the motor end and one for the stroke end of the unit.

  • Page 32: Arduino Actuator Tester Shield

    #6 M3 nut can be used to fix the hinge and hinge base. The M3 nut can also be used between rod-end and rod-end tip as a stopper. P a g e | 32 Progressive Automations – Position Control Communication Protocol...

  • Page 33: Warranty

    6. Warranty 6.1. Warranty & Service At Progressive Automations we take pride in the quality of our products. To meet our performance standards, all our products are thoroughly tested, checked, and undergo rigorous quality control procedures throughout the production process and prior to being shipped to the customer.

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