Logosol 9122310174, Manual

Page 1: ...or Linear brushless motors up to 1 5 HP DC brush and Voice coil motors are also supported In LDCN mode the LS 231g3SB supports coordinated motion of several motors Up to 31 devices can be controlled over a multi drop full duplex RS 485 network Standard RJ 45 connectors and commercially available cables are used for daisy chaining of the modules In Analog modes the drive supports precise speed cont...

Page 2: ...adrature with index Encoder rate 10MHz max 5MHz max Enc Filter ON Panasonic encoder mode Serial Absolute and encoder BiSS C encoder HALL SENSORS 60 120 o Panasonic Serial absolute encoders LEDs ORANGE GREEN RED Refer to LS 231g3SB Diagnostic and I O section for details PROTECTION Short circuit Over temperature shut off Motor output to motor output Motor output to GND Activated at 80 o C POWER DESS...

Page 3: ...ctor kit for Panasonic A and S series motors with brake 230601076 PAN ASA CN Mating Connector Kit for Panasonic motors with absolute encoder 230601077 PAN ASBA CN Mating Connector Kit for Panasonic motors with absolute encoder and brake 922231100 LS 2311 Dual loop master encoder interface 6 220 6 500 0 750 2 000 4 000 0 165 4 250 max 0 165 0 500 0 850 CN7 HOST CN6 SLAVE CN5 ENCODER AND COMMUTATOR ...

Page 4: ...en the motor is moving 4 Sw4 OFF Limit1 and Limit2 inputs Non differential index Z for brushless or DC motors with differential encoders ON SingleLIMIT Differential index Z Z for brushless or DC motors with differential encoders 5 Sw5 Sw6 ON Sw5 ON Motor with single ended non differential encoder Sw6 ON Sw5 OFF Motor with differential encoder Sw6 OFF Sw5 ON Panasonic A or S series motor P mode Sw6...

Page 5: ...tors Not connected for DC and Voice Coil motors CN2 I O PIN SIGNAL DESCRIPTION 1 Gnd Signal ground 2 Output2 Multifunctional output mode dependent 3 Input10 Multifunctional input mode dependent 4 Pull Up Protected power output 24V SAFETY BUS CN3 PIN SIGNAL DESCRIPTION 1 LIMIT Limit relay contact CN3 See note below 2 Input9 Limit input 3 FAULT Fault relay contact CN3 4 Enable Drive Enable Stop inpu...

Page 6: ...ut 24V 7 Limit1 SingleLIMIT SW4 OFF Limit1 input connected to CN9 4 through 2K2 resistor SW4 ON SingleLIMIT input connected to CN9 4 through 2K2 resistor 8 Gnd Signal ground 9 Rx Hall data for Panasonic A or S series motors Not applicable for Serial and BiSS C encoders 10 Gnd Encoder ground 11 Z Encoder index Z for Panasonic A or S series motors Not applicable for Serial and BiSS C encoders 12 MA ...

Page 7: ...2K2 resistor SW4 ON SingleLIMIT input connected to CN9 4 through 2K2 resistor 8 Gnd Signal ground 9 H1 H1 Hall input 1 for brushless motors Not applicable for DC motors 10 Gnd Encoder ground 11 Z Z Encoder index Z 12 B B Encoder phase B 13 A A Encoder phase A 14 Home Home input connected to CN9 6 through 2K2 resistor 15 Limit2 H3 Limit2 H3 SW4 OFF Limit2 input connected to CN9 2 through 2K2 resist...

Page 8: ... ground 11 5V 5V power supply 12 AEN LDCN Single loop mode NA LDCN Dual loop mode Master encoder error All other modes Enable input 13 Step LDCN Single and Dual loop modes NA All Analog modes NA Step Direction mode Step input Step Positive Step Negative mode Positive Step input Quadrature encoder modes Counter B input 14 AnGnd Analog ground 15 ADCin Analog input 0 to 10V 16 DACout Analog output 0 ...

Page 9: ...NTEFRACE LS 2311 is master encoder interface for dual loop applications with LS 231g3SB Multifunctional Servo Drive DUAL LOOP MASTER ENCDOER INTERFACE DIMENSIONAL DRAWING DUAL LOOP MASTER ENCODER INTERFACE LAYOUT Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 9 ...

Page 10: ...served Reserved must be OFF CN1 PIN SIGNAL DESCRIPTION 1 12Vdc to36Vdc Power supply input if Power Source CN1 jumper is installed 2 Gnd Power supply ground CN2 Master Encoder PIN SIGNAL DESCRIPTION 1 NC Not connected 2 Z Encoder phase Z 3 NC Not connected 4 NC Not connected 5 5V Encoder power supply 6 B Encoder phase B 7 Gnd Power supply ground 8 A Encoder phase A 9 NC Not connected 10 Z Encoder p...

Page 11: ...interface PIN SIGNAL DESCRIPTION 1 DACout Analog output Wired to CN3pin16 2 ADCin Analog input Wired to CN3pin15 3 AnGnd Analog ground Wired to CN3pin14 4 PhB Master encoder phase B output to LS 231g3SB 5 AEN Z Amplifier Enable output 6 EXT 5V 5V input power input if Power Source CN4 jumper is installed 7 Gnd Power supply ground 8 Fault In Fault input from LS 231g3SB 9 Gnd Power supply ground 10 P...

Page 12: ...2231005 Rev C 09 13 2018 SAMPLE APPLICATION using AC brushless motor in LDCN mode Home switch and limit switches are connected to CN9 NETWORK HOST NETWORK SLAVE Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 12 ...

Page 13: ...B Doc 712231005 Rev C 09 13 2018 SAMPLE APPLICATION using Panasonic A or S series motor in LDCN mode Home switch and limit switches are connected to CN5 Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 13 ...

Page 14: ...Servo Drive LS 231g3SB Doc 712231005 Rev C 09 13 2018 SAMPLE APPLICATION using Panasonic A or S series motors in Analog input mode Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 14 ...

Page 15: ...231g3SB Doc 712231005 Rev C 09 13 2018 SAMPLE APPLICATION using Panasonic A or S series motors in Step Direction Step Positive Step Negative mode Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 15 ...

Page 16: ...31g3SB Doc 712231005 Rev C 09 13 2018 SAMPLE APPLICATION using Panasonic A or S series motors in Quadrature encoder mode NETWORK HOST NETWORK SLAVE Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 16 ...

Page 17: ...005 Rev C 09 13 2018 SAMPLE APPLICATION LDCN Dual Loop mode using AC brushless motor Home switch and limit switches are connected to CN5 NETWORK HOST NETWORK SLAVE Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 17 ...

Page 18: ...vo Drive LS 231g3SB Doc 712231005 Rev C 09 13 2018 SAMPLE APPLICATION Analog Input Dual Loop mode using Panasonic A or S series motors Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 18 ...

Page 19: ... mode using Master and Slave motors NETWORK HOST NETWORK SLAVE NETWORK HOST NETWORK SLAVE CN8 2 A CN8 4 B CN8 9 Fault CN8 8 GND CN8 7 DIR CN8 8 GND CN8 12 AEN CN8 13 STEP CN8 4 B CN8 2 A CN8 8 GND CN8 9 Fault Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 19 ...

Page 20: ...N8 9 Fault CN8 8 GND CN8 7 DIR CN8 8 GND CN8 12 AEN CN8 13 STEP CN8 4 B CN8 2 A CN8 8 GND CN8 15 ADCin CN8 14 AnGnd CN8 12 AEN CN8 6 Z SERVO CONTROLER Hold Slave Fault2 Fault1 Analog Output Amplifier Enable Encoder A Encoder B Encoder Z NETWORK HOST NETWORK SLAVE Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 20 ...

Page 21: ...Encoder wiring in LDCN mode 172169 1 1 AMP 172161 1 AMP 172159 1 AMP 172167 1 AMP TRNSFORMER ISOLATED POWER SUPPLY POWER GND MOTOR POWER 24V PANASONIC MSMD SERIES MOTOR ENCODER NETWORK IN HOST NETWORK OUT SLAVE Battery 3 6V Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 21 ...

Page 22: ...18 SAMPLE APPLICATION motors with BiSS C Encoder wiring in LDCN mode TRNSFORMER ISOLATED POWER SUPPLY POWER GND MOTOR POWER 24V NETWORK IN HOST NETWORK OUT SLAVE BiSS C Encoder Motor Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 22 ...

Page 23: ...Home Closed Open 0 or 1 1 0 0 Closed Forward Limit Open Closed 0 0 1 1 Open Forward Limit Open Closed 1 Bridged 0 1 1 Closed Reverse Limit Open Open 0 0 0 0 Open Reverse Limit Open Open 1 Bridged 0 0 0 Closed Note Only when ZeroSpeed Sw3 OFF Home switch only Note INbit 4 Limit 1 INbit 3 Home SingleLIMIT OFF FORWARD LIMIT SingleLIMIT Home Limit1 SingleLIMIT Limit2 H3 Gnd 2 3 4 5 6 7 8 9 10 11 12 13...

Page 24: ... channel output 5 A 3 B channel output 12 B 4 B channel output 4 B 5 Z channel output 11 Z 6 Z channel output 3 Z 11 RX 9 RX 12 RX 1 RX 13 5V 2 Enc 5V 14 0V 10 Gnd FG SHIELD 8 Gnd SHIELD NA NA 6 Pull Up NA NA 14 Home NA NA 7 Limit1 SingleLIMIT NA NA 15 Limit2 H3 To LS 231g3SB MOTOR CONNECTOR AMP CAP 172159 1 4 pins 170366 1 LS 231g3SB CONNECTOR PHOENIX CONTACT MSTB2 5 8 ST 5 08 PIN SIGNAL NAME PIN...

Page 25: ...ke 5 Gnd 3 4 WIRESIDE VIEW 2 1 6 5 7 8 9 FG B a t t G N D 0V 5V NC SD 4 5V 7 0V 8 SD 5 V B A T SD SD attery 3 6V Gnd Home Limit1 SingleLIMIT Limit2 H3 Gnd 2 3 4 5 6 7 8 WIRESIDE VIEW 9 10 11 12 13 14 15 1 Pull Up CN5 SD ENCODER CABLE Note Only one of the shield wiring options could be used OR 3 2 1 4 6 7 8 5 4 3 2 1 MOTOR AC1 U MOTOR AC 2 V MOTOR AC 3 W Gnd Brake POWER Gnd 24V POWER U 1 V 2 W 3 U ...

Page 26: ...N SIGNAL NAME 5V 2 Enc 5V 0V 10 Gnd 0V 8 Gnd MA 12 MA MA 4 MA SLO 13 SLO SLO 5 SLO Shield 8 Gnd Shield Outer If applicable Frame SHIELD Outer SLO 5V 0V SLO Gnd Home Limit1 SingleLIMIT Limit2 H3 Gnd 2 3 4 5 6 7 8 WIRESIDE VIEW 9 10 11 12 13 14 15 1 Pull Up CN5 SLO ENCODER CABLE BiSS C Encoder MA MA MA MA SHIELD 0V If applicable Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 097...

Page 27: ...ogosoldistributedcontrolnetworkldcn html Initial Connection to the Host Turn on the power supply Start Logosol Distributed Control Network Utility Choose the proper COM port Click Reset network button Load the motor file from Motor panel Load Motor settings Load motor settings or complete Motor Initialization procedure if you do not have the motor setting for the motor you use Click SERVO button a...

Page 28: ...If Off is set the drive output will not be affected Continuous current and Overload time should be set depending on motor and application parameters Gain Set Gain 100 This parameter sets the ratio between command value and the drive PWM output Gain 50 will limit the PWM output value to 1 2 of its maximum Current Motor current will be limited to this value during the initialization procedure only I...

Page 29: ... that allow to have all three sections of the motion Acceleration Constant velocity Deceleration 2 Minimize the Position error by adjusting Parameters values Click Save Gains when done Motor current shown on Current screen follows the motion profile and the motor load Spikes or sudden changes may be a sign of mechanical problems or bad servo tuning Logosol Inc 2833 Junction Ave Ste 101 San Jose CA...

Page 30: ...roller After setting the device mode the PID parameters and all other mode specific parameters should be set and saved to the non volatile memory of the drive When an analog input mode is selected set analog input parameters Filter enables disables filtering of the analog input Invert direction can be used to invert the motor direction Scale is the factor used to convert the analog input value 327...

Page 31: ...ULT CN4 1 CN3 1 CN4 3 CN3 3 CN4 2 CN4 4 CN3 2 CN3 4 Input interface Encoder interface Input interface Input interface Output driver Short protection Pull Up Input10 Output2 Pull Up Pull Up Input interface Bridge Output driver Brake Output1 24V 18Vdc to 36Vdc 5V DC DC converter Short protection POWER 18Vdc to 90Vdc 24V Fuse POWER Gnd Motor Driver MOTOR AC1 U MOTOR AC2 V MOTOR Ac3 W Motor Driver Pow...

Page 32: ... capture Home position Hall sensors provide the motor position They are used by motor control module to determine motor Index position after power up and during the motor initialization procedure Encoder and Commutator interface Besides the position control encoder phases index and hall sensors are used to determine the motor commutation synchronizing the output PWM every motor rotation according ...

Page 33: ...Output 2 LIMIT ZseroSpeed Fault outputs For inputs and outputs descriptions refer to Safety Features LS 231g3SB diagnostic and I O section SLO SLO 5V LS 231g3SB 2K2 220 2K2 MA MA CN5 12 CN5 4 CN5 13 CN5 5 Short Protection 24V Gnd Output2 CN2 OUTbit2 LS 231g3SB 10K CN9 Limit1 Home Gnd 24V Control Logic Pull Up CN2 Input10 CN3 CN4 Input9 Enable CN5 Limit1 Home Cn9 Bridge 2 2 K Short protection Gnd 2...

Page 34: ...nterface Serial communication with the LS 231g3SB adheres to a full duplex 4 wire 8 bit asynchronous protocol with one start bit followed by 8 data bits lsb first followed by a single stop bit The communication protocol supports full duplex multi drop RS 485 interface that allows multiple drives to be controlled over a single RS 485 port The host sends commands over it s RS 485 transmit line and r...

Page 35: ...data Checksum byte Communication interface The status byte contains basic status information about the Drive including a checksum error flag for the command just received The optional data bytes may include data such as the position velocity etc and are programmable by the host The checksum byte is the 8 bit sum of the status byte and the additional status data bytes The transmission of all 16 bit...

Page 36: ...tion with a controller without sending Hard Reset command LDCN Network Group Addresses In addition to the individual address each controller has a secondary group address Several LS 231g3SB controllers may share a common group address This address is useful for sending commands which must be performed simultaneously by a number of drivers e g Start motion Set Baud Rate etc When a LS 231g3SB receiv...

Page 37: ...ounts tick tick with the lower 16 bits the fractional component this would be programmed as 0 00021 x 65536 or 14 Position is programmed as a straight 32 bit quantity with no fractional component Note that if the servo rate divisor is modified the time dependent velocity and acceleration parameters will also have to be modified PWM mode If the position servo is disabled the motor is operated in a ...

Page 38: ...etails LIMIT output is closed when Limit1 and Limit2 CN5 CN9 are High BridgeSTA bit is High To operate without Safety bus connect Enable input to 24Vdc Motor short protection the drive is protected against short circuit output to output or output to ground Overvoltage protection The drive will be in Fault Condition and the drive output will be disabled when the input voltage is above specified lim...

Page 39: ...e used to control system Safe state System is Safe when Zero Speed chain is closed Spindle is stopped and Covers are not locked For more information refer to CNC SK 2310g2 manual http www logosolinc com files downloads CNC ls 2310g2 pdf Zero Speed mode Note Avalable only with CNC SK 2310g2 Decoder Test Mode Zero Speed estimator DSP Control logic Input Input Enable Input Enable Enable Test Test Zer...

Page 40: ...t 5 Home Source Status Bit 4 Pos_error Status Bit 3 Power Status Bit 0 Move_done Auxiliary Bit 2 Servo Auxiliary Bit 0 Index DE INbit12 CONDITION ORANGE GREEN RED FAULT RELAY BRAKE OUTbit0 0 Limit2 Source Home Source X 1 X 1 Encoder 1 ServoON OFF ON OFF Closed CN8 pin9 High Released 1 1 1 1 1 0 1 0 Ready OFF Blink OFF Engaged 0 1 1 0 1 0 1 0 No Motor Power after Power UP ON ON OFF X X X 0 0 0 1 0 ...

Page 41: ... on Servo drive state See diagnostic tables 1 Brake Output1 is following Output1 bit Bit 0 Brake Outpu1 CN1pin4 OFF Bit 1 Brake Outpu1 CN1pin4 HIGH OUTbit1 Output1 OUTbit2 Output2 CN2pin3 Bit 0 Output2 OFF Bit 1 Output2 HIGH OUTbit3 N A Reserved clear to 0 OUTbit4 HomeSEL1 Select homming input source Motor and Master encoders latch source HomeSEL2 OUTbit8 HomeSEL1 OUTbit4 StatusBit5 INbit0 StatusB...

Page 42: ...der counter phase B CAP5 _____ Fault CN8pin9 N A OUTbit16 0 HIGH when PIC_AE bit is CLEARED Power driver is disabled or NO fault condition is present LOW when PIC_AE bit is SET Power driver is enabled and fault condition is present OUTbit16 1 HIGH when PIC_AE bit is SET Power driver is enabled and NO fault condition is present LOW when PIC_AE bit is CLEARED Power driver is disabled or fault condit...

Page 43: ...esent Step Dir mode MODEbit C B A 110 Name Bit AEN CN8 12 Dir CN8 7 Function DE INbit12 0 X Amplifier disabled fault conditions clear 0 1 0 Amplifier enable direction positive 1 1 1 Amplifier enable direction negative 1 DE INbit12 AEN CN8pin12 INbit7 Dir CN8pin7 INbit14 0 Step CN8pin13 N A 0 1 transition Step 1 0 transition NO change _____ Fault CN8pin9 N A OUTbit16 0 LOW fault HIGH NO fault OUTbi...

Page 44: ...hile the axes are still in motion until the path is complete The timing requirements for the host require that it be able to dynamically download new path points before the path point buffers empties completely With a path point buffer size of 1 3 seconds or even more with lower frequency even a non real time host such as a PC running Windows can easily keep up with the task of re filling the path...

Page 45: ...s they will all start within 0 000025 seconds of one another The second type of timing error results from inaccuracies in the frequencies of the oscillators running on each LS 231g3SB controller If all Servo Drives are timed from the same oscillator this error is zero Typical oscillator variations for the same operating temperature are about 10 parts per million Therefore after running a path for ...

Page 46: ...aud rate 0xA 1 Sets the baud rate group command only Yes Clear bits 0xB 0 Clears the sticky status bits Yes Save as home 0xC 0 Saves the current position in the home position register Yes Add path points 0xD 0 n Adds up to 7 path points to the device buffer and starts the path point mode motion Yes Nop 0xE 0 Simply causes the defined status data to be returned Yes Extended commands 0xE 1 n Extende...

Page 47: ...nal component 3 send auxiliary status byte 1 byte 4 send home position 4 bytes 5 send device ID and version number 2 bytes First byte Motor controller device ID 0 Second byte version number 20 to 29 decimal 6 send current position error 2 bytes 7 send number of points in the path buffer 1 byte 8 send digital inputs 2 bytes 9 send analog inputs 2 bytes 10 11 reserved Clear to 0 12 send watchdog sta...

Page 48: ... Command byte 0xn5 Data bytes 1 Control byte Bit 0 load position data n n 4 bytes 1 load velocity data n n 4 bytes 2 load acceleration data n n 4 bytes 3 load PWM value n n 1 or 2 bytes 4 servo mode 0 PWM mode 1 position servo 5 profile mode 0 trapezoidal profile 1 velocity profile 6 in velocity PWM mode direction flag 0 FWD 1 REV 7 start motion now PWM value can be 1 or 2 bytes If only 1 byte is ...

Page 49: ...Command value 0x5 Number of data bytes 0 Command byte 0x05 Description Causes the trajectory information loaded with the most recent Load Trajectory command to execute This is useful for loading several Drives with trajectory information and then starting them simultaneously with a group command Set Gain Command value 0x6 Number of data bytes 14 Command byte 0xE6 Data bytes 1 2 Position gain KP 0 ...

Page 50: ...his stopping mode should only be used as an emergency stop where the motor position needs to be maintained Setting bit 3 enters a more graceful stop mode this sets the goal velocity to 0 and enters velocity mode causing the motor to decelerate to a stop at the current acceleration rate If bit 4 is set the motor will move to the specified stopping position abruptly with no profiling This mode can b...

Page 51: ...s the Drive to monitor the specified conditions and capture the home position when any of the flagged conditions occur The Home_In_Progress bit in the status byte is set when this command is issued and it is then lowered when the home position has been found Setting one and only one of bits 2 4 or 5 will cause the motor to stop automatically in the specified manner once the home condition has been...

Page 52: ...d value 0xD Number of data bytes n 0 2 4 6 8 10 12 or 14 Command byte 0xnD Data bytes 1 2 Incremental data for path point 1 n 2 3 4 Incremental data for path point 2 n 4 13 14 Incremental data for path point 7 n 0xE or None Starts execution of path point mode n 0 Description The data format of the points is a 2 byte signed value The most significant byte is the integer part and the least significa...

Page 53: ...ters a more graceful stop mode the controller sets the goal velocity to 0 and enters velocity mode causing the motor to decelerate to a stop at the current acceleration rate Clearing bits 0 to 3 disables Stop on limits function This function is disabled by default Sub command 0x01 Read hall sensors and initialize the angle Description This command makes the controller to read the hall sensors stat...

Page 54: ...he status will be 0 Any other value means that the watchdog is working and represents the remaining time before the watchdog expires in multiples of 8192 microseconds Sub command 0x10 Set motor error limit Data bytes 1 and 2 motor error limit Description In dual loop mode after power up the motor error limit is set to the same value as the master error limit Set gain commands also sets the motor e...

Page 55: ...ching for a home position Reset to zero once the home position has been captured Auxiliary Status Byte Bit Name Definition 0 Index diag bit Compliment of the value of the index input or diagnostic bit refer to LS 231g3SB Diagnostic and I O section in this document 1 Pos_wrap Set if the 32 bit position counter wraps around Must be cleared with the Clear Sticky Bits command 2 Servo_on Set if the pos...

Page 56: ...mmands There are 16 commands managing Servo drives refer to Command Description Each command as shown in the following two tables includes header address command data bytes and one checksum byte Checksum does not include header byte Structure of Read Status command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Header Address Individual or Group Command Code Data Byte CheckSum Byte 2 Byte 3 Data Byte High 4 b...

Page 57: ...fter power up and Hard Reset command all drives have their address set to 00h and only the first drive starting from the host has its communication enabled Consecutive Set Address commands are sent to address 00h until all drives are addressed This procedure can be executed once after Hard Reset The table below shows the steps to address 3 drives network Example of sequential addressing for three ...

Page 58: ... addressing procedure of N drives network There is no group leader and the group address is FF I Individual Address J Group Address FF Status Status Data sent to the Host Timeout Greater than one servo cycle Logosol Inc 2833 Junction Ave Ste 101 San Jose CA 95134 Tel 408 744 0974 www logosolinc com 58 ...

Page 59: ...1 E4 9F 00 00 00 00 00 00 00 00 01 00 00 00 00 85 Load trajectory for drive 1 target position 0 velocity 0 acceleration 1 PWM 0 and start motion now 7 AA 02 E4 9F 00 00 00 00 00 00 00 00 01 00 00 00 00 86 Load trajectory for drive 2 target position 0 velocity 0 acceleration 1 PWM 0 and start motion now 8 AA 01 17 05 1D Stop Motor closes servo loop of drive 1 with Power Driver enable and Stop Abrup...

Page 60: ... per second 67109 programmed velocity for 5000 line encoder Acceleration 10 revolutions per second2 34 programmed acceleration for 5000 line encoder AA 01 19 12 2C Set home mode capture home position on change of Limit 1 and stop abruptly AA 01 05 06 Start motion wait while home_in_progress bit 1 Home position is found on change of Limit 2 AA 01 19 18 32 Set home mode capture home position on chan...