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SMAC LAC-1 DATASHEET 电缸驱动器手册
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详细说明：SMAC LAC-1 DATASHEET
SMAC LAC-1 数据手册pdf文档
LAC-1电缸驱动器手册SMAC
LAC-1 Technical reference manual
Table of contents
1 INTRODUCTION
1.1 SPECIFICATIONS
2 DIGITAL I/O INTERFACE
1.2.1 Dedicated Digital Inputs
画面面1面
1.2.2 General Purpose digital Inputs
1.2.3 General Purpose Digital Outputs
7788999
1.2.4 Digital lo"States
2.5 I/O Technical Specifications
10
3 ENCODER INTEREACE
1.4 OUTPUT DRIVER INTERFACE
1.5 ANALOG TO DIGITAL CONVERSION(A/D)INTERFACE
11
1.6 SERIAL INTERFACE
12
2. MACRO INTERRUPT SYSTEM.,………
13
2 1 THE INTERRUPT VECTOR TABLE
2.2 ENABLING AND DISABLING INTERRUPTS
13
2, 3 INTERRUPT SOURCES
2. 4 INTERRUPT PRIORITY
14
2.5 INTERRUPT COMPLETION
15
2. 6 INTERRUPT LATENCY
15
3. ENTERING COMMANDS
…17
3. 1 DOWNLOADING COMMANDS
18
4. NTRODUCTION TO COMMANDS
…419
4.1 PARAMETER COMMANDS
19
4.2 REPORTING COMMANDS
8面
29
4.3 MOTION COMMANDS.…
.36
4. 4 REGISTER COMMANDS
41
4. 4.1 Internal variables
41
4.5 SEQUENCE COMMANDS
49
4.6 LEARNED POSITION STORAGE (LPS)COMMANDS
54
4.7 MACRO COMMANDS…………∴NDS……、……
55
4.8 INPUT/OUTPUT(IO)COMMAN
∴59
4.9 FUTURE EXPANSION INTERFACE
b
4.10 SERIAL COMMUNICATIONS AND MISCELLANEOUS COMMANDS
62
5, APPENDIX A LAC-1 ERROR CODE DEFINITIONS Ww
69
6, APPENDIX B SUMMARY OF LAC-1 COMMANDS.
∴71
7. APPENDIX C, LAC-1 CONNECTOR PIN DEFINITIONS,m72
8. INDEX…,,…
73
SMAC
LAC-1 Technical reference manual
1. Introduction
The LAC-1 is a one axis stand-alone integrated controller / driver, with input /output (1/0
capabilities, designed primarily for the control of dc brush type motors or actuators with it's
ntegrated driver
The LAC-1 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-1 can interface to the real world via the onboard dc motor driver, a quadrature
type encoder interface, 8 channels of Hct ttl digital input and 8 channels of HCT TtL type
digital output, with additional TTL inputs serving for limit, home and fault functions, 4 channels of
10-bit analog to digital (A/D)conversion(1 of which is reserved for monitoring amplifier output
current), and an RS-232 serial communications link. a proprietary RS-422 interface is provided for
1o expansion modules
1.1 Specifications
Description
Stand-Alone 1 Axis Servo Motor Controller/Driver
Operating modes
Position, Velocity, Torque
Filter Algorithm
PID
I Max Servo Loop Rate
200S
Trajectory generator
Trapezoidal
Servo Position Feedback Incremental Encoder with Index
Output (Standard
PWM Motor Drive, 3 Amps Cont and 6 Amps peak at 50 VDC
Max
PWM Frequenc
Approximately 19.531KHZ
Encoder and Index Input Single-ended or Differential
Encoder Supply Voltage 5VDC
Encoder Input Voltage
5.5 VDC Max,-01 VDC Min
Encoder count rate
2 Million Quadrature Counts per Second
Position Range
32 Bits
Velocity Range
32 Bits
Acceleration Range
32 Bits
General Purpose Digital HCT TTL Inputs, 8 HCT TTL Outputs
Dedicated Digital Inputs Limit +, Limit-, Home and Fault, all TTL
Analog Inputs
4 Channels with 10-Bit Resolution 3 are user accessible
Expansion 1/0 Optional Expansion to 64/O
Communication Interface RS-232 Serial Interface, Adjustable Baud Rate, 8 Bits, 1 Stop Bit
No Parity XoN/XOFF Handshake
Supp∨ oltage
+11 To+50 VDC
Motor voltage
+12 To +48 VDC
Dimensions
Approximately 5.0"Long by 3. 3"Wide by 1.1 "Thick
Weight
Approximately 1 Lb
Table 1. Specifications
SMAC
LAC-1 Technical reference manual
1.2 Digital lo Interface
The LAC-1 includes 8 channels of HcT Ttl general purpose digital input and 8 channels
of HCT TtL general purpose digital output. Additionally, there are four channels of ttl dedicated
digital input. The general purpose l/o are buffered with 74HCT541. An expansion interface allows
for optional expansion of lo to 64 channels
1.2.1 Dedicated Digital Inputs
The LAC-1's dedicated digital inputs are limit +, Limit-, Home and fault. figure 1. LAC-1
Dedicated Input illustrates one of these inputs. All of these inputs are active low and have 2.7K
ohm pull up resistors. To activate one of these inputs, the user need only connect that input to the
controllers ground
The Limit inputs are intended for signaling the LAC-1 that an axis has reached it's end of
travel. When such an event occurs, the LAC-1 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 motor/actuator over-
temperature
Note: The external Fault input is tied to the internal over-temperature signal from the onboard
driver. 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 a 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 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
t=V
E7K
INPUT <
TTL
LE INPUT
Figure 1.LAC-1 Dedicated Input
SMAC
LAC-1 Technical reference manual
1.2.2 General Purpose Digital Inputs
Figure 2 illustrates one of the LAC-1's general purpose inputs. These inputs are of the type
HCT TTL. Each of these inputs has a 15K pull up resistor
5V
INPUT
UT
74HET34L
Figure 2. LAC-1 General Purpose Input
1.2.3 General Purpose Digital Outputs
Figure 3 illustrates one of the LAC-1's general purpose outputs. These outputs are of the
HCT TTL type
OUTPUT
WE UIPU
74HCT51
Figure 3. LAC-1 General Purpose Output.
1.2.4 Digital lo"States
There are several commands that deal with controlling the general purpose digital /O
The Channel High(CH) and Channel Low(CL) commands provide the user with the ability
to determine whether a channel is ON in the HIGH state(CH)or oN in the LoW 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 HIGH or LoW depending on the CH and CL
commands as stated previously
SMAC
LAC-1 Technical reference manual
The(CH) command causes the following interpretation of the inputs and outputs
A HIGH output is considered to be on(e.g, Channel On"CN"command)
A LoW output is considered to be OFF(e.g, Channel Off CF"command)
A HIGH input is considered to be on(e.g, Do If On DN"command)
A LOW 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
A HIGH output is considered to be ofF(e.g, Channel Off "CFcommand)
A LoW output is considered to be on(e.g, Channel On CN" command
A HIGH input is considered to be ofF(e.g, Do If Off"DF"command)
A LOW input is considered to be on(e.g, Do If On DN"command
Input voltage
CL
Output
CH
CL
Voltas
HIGH
ON
OFF
HIGH
ON OFF
LOW
OFF
ON
LOW
OFF
ON
Table 2 l/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 o"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 before it is considered valid and the change is detectable
1.2.5 WO Technical Specifications
1.2.5.1 General Purpose l/o Nominal specifications
Symbo
Parameter
Conditions
Typ. Units
V
Minimum High
2.0
Level Input∨ oltage
Maximum lo
0.8V
Level Input Voltage
OH
Minimum High
our<=6.0mA3.84V
evel Output
Voltage
V
Maximum low
lou<=6.0mA0.33|y
Level Output
Voltage
Maximum Input VIN= HIGH or LOW01 uA
Current
Table 3: General Purpose l/o Specifications
10
SMAC
LAC-1 Technical reference manual
1.2.5.2 Dedicated I/o Nominal specifications
ymbo
Parameter
Conditions
Typ. Units
Minimum High
Level Input Voltage
Maximum low
0.9
Level Input voltage
Maximum Input VIN= HIGH or LOW05 uA
Current
Table 4: Dedicated l/o Specifications
1.3 Encoder Interface
The LAC-1 has one channel 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 are 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
1.4 Output Driver Interface
The LAC-1 onboard output driver is a PWM switching amplifier capable of supplying 3
Amps continuous and 6 Amps peak (for 200 ms minimum) at a switching frequency of
approximately 19.531 KHz. This driver is intended for driving Dc brush type motors or actuators
The peak voltage output to the motor will be nearly that of the main power supply
The output driver includes 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 the status word
1.5 Analog to Digital Conversion(A/D)Interface
The LAC-1 provides a 4 channel, 10 bit A/D conversion interface with a +5 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 7,8 and 9 while channel 0 is used
internally for monitoring the output current of the onboard driver. The other channels are
unavailable and should be ignored
channe Whenever a Tell Analog""or Get Analog "GA"command is issued, the specified A/D
is converted and the result is either reported or stored for access by the user. also
whenever the servo loop is executed, the "current monitoring"channel is converted and the result
is stored for later access
SMAC
LAC-1 Technical reference manual
1.6 Serial Interface
The LAC-1 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
12
SMAC
LAC-1 Technical reference manual
2. Macro Interrupt System
The LAC-1 employs a"Macro Interrupt System"to provide additional versatility in
programming the LAC-1. This system comprises 12 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
interrupts vector table entry begins. This happens to be similar procedure to that which the Macro
Call(Mc) command follows
2.1 The Interrupt Vector Table
The Interrupt Vector Table consists of an entry for each interrupt source and each entry wil
correspond to that interrupts level (level 0 entry 0, level 1 entry 1, etc. ) A particular table entry
must be loaded with the number of a valid macro to be executed should that interrupt source
become active. The method for loading a vector table entry is provided by the load vector (LV
command. The user must first use the Accumulator Load(AL) command to set the number of the
macro for a vector the lv command is then used to transfer the low 8-bits of the accumulator to
the vector table entry specified by the Lv command. If an interrupt is generated and that vector
table entry has not been defined (equal to o) then the interrupt will not be executed. Note that this
implies that macro 0"cannot be used as an interrupt macro. If an interrupt is generated and it's
vector table entry has been defined but the macro it specifies has not, then an error will be
eported
2.2 Enabling and Disabling Interrupts
(EVc Loading a vector table entry will not enable an interrupt for operation The Enable Vector
(EV command must be used for this purpose. When the Ev command is used, it will enable the
interrupt source(specified with the command)to function. In the event that it is necessary to
disable an interrupt source, there is a Disable Vector (DV) command that functions in a similar
manner as the ev command
In order to prevent multiple or continuous interrupts, as an interrupt is taken it is
automatically disabled. This means that the user must re-enable that interrupt using the ev
command before it will occur again
13
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