Logosol LS-221-BL Technical Reference

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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

The information in this data book has been carefully checked and is believed to be reliable,
however, no responsibility can be assum ed for inaccuracies. All inform ation in this m anual is
subject to change without notice and does not represent a commitment on the part of the
vendor.

FlexWare



is tradem ark of Logosol, Inc.

Tradem arks are used throughout the manual only as reference to existing com m on products. If
a registered trademark is used without being indicated as such, this does not imply that the
nam e is free.

© Cop yright Logosol, Inc. 1991 - 1999.
All rights reserved. No part of this publication may be reproduced, photocopied, stored on

retrieval system, or transm itted without the express written consent of the pub lisher.

LS-221-BL Technical Reference
Document No 7102201125 / Rev . 1.1 - April, 1999

Logosol, Inc.
1155 Tasm an D rive, Sunnyvale, CA 94089
Tel: [phone]
Fax: [phone]
Http://www.logosolinc.com

Contents

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. Di gital Outputs and Outbound Power........................................................................................12

4.2.4. Servo Control and Diagnostic ................................................................................................... 14

4.2.4.1.Motion Processor Reset......................................................................................................14

4.2.4.2. S ervo Loop.........................................................................................................................14

4.2.4.3.Amplifiers Current Control...................................................................................................17

4.2.4.4.Interrupt Processing ............................................................................................................17

4.2.5. Board Identifier.........................................................................................................................18

4.2.6. Interface Connector s ................................................................................................................18

4.2.6.1. CN3 Connec tor (External Power)........................................................................................20

4.2.6.2. CN2 Connec tor (Outputs & Out bound P ower) .....................................................................21

4.3. Input B oar d.....................................................................................................................................22

4.3.1. Di gital Optoisolated Inputs........................................................................................................24

4.3.1.1. General Purpose Inputs ......................................................................................................24

4.3.1.2. Hall-sensor Inputs...............................................................................................................26

4.3.1.3. High Speed Position Capt ur e Inputs....................................................................................26

4.3.1.4. E mergency Stop Inputs (optional) ....................................................................................... 27

4.3.2. Inc r emental Encoder Interface..................................................................................................27

4.3.3. Multi-turn Absol ute Encoder Receiver .......................................................................................28

4.4. Interface Wiring.......................................................................................................... ....................30

4.5. Power Supply .................................................................................................................................31

5. BOARD SETUP....................................................................................................................................32

5.1. Base I/O Address............................................................................................................................32

5.2. Interrupt Line..................................................................................................................................32

5.3. Current Limit Mode.........................................................................................................................33

5.4. Servo Off Mode..............................................................................................................................33

6. APPLICATION NOTES.........................................................................................................................34

7. BASIC CONTRO L PRO CEDURES.......................................................................................................35

7.1. Board i dentifi c ation.........................................................................................................................35

7.2.Board Initialization and Pow er On

7.3. Enable A mplifiers ...........................................................................................................................37

7.4. Disable amplifier.............................................................................................................................38

7.5. Diagnostic – Finding O ut the Reason Caused Amplifier Disable......................................................39

...............................................................................................36

LS-221-BL Technical Reference

1. OVERVIEW

Logosol LS-221-BL is a precision highly integrated 2-axis digital servo controller with built-in
power amplifiers. LS-221-BL is specially designed to control 3-phase brushless motors with
integrated Hall-sensors and quadrature incremental encoders. The unique

FlexWare™

design

allow s flexible wiring and assignm ent of all inputs and outputs to meet specific requirements.

FEATURES

•

2-axis

•

M odular design

•

ISA bus plug-in board

•

DS P technology. PM D M C 1231A b ased

•

Sinusoidal com m utation

•

S-curve profile

•

Program m ab le output current lim it/shut dow n

•

Quadrature increm ental encoder interface (encoder pow er supply provided)

•

M ulti-turn absolute position encoder interface (power and backup supply provided)

•

Additional general purpose optoisolated inputs and outputs

•

F lex ib le wiring

•

Em ergency stop input

TECHNICAL SPECIFICATIONS
Motion Control

Output

comm utation waveform sinusoidal
PW M phases 3 per axis
PW M resolution 10 bit @ 25KHz
min load inductance
typical motor power supply voltage range
undervoltage shutdown 18 VDC
overvoltage shutdown 100 VDC
max c ontinuous current per channel 8.5A
max short term current per channel (t < 10 sec) 10A
max c ontinuous current per board 16A
programmable current l imit for each channel 2-10A

Encoder

type incremental A, B, Z
max pulse frequency 1 MHz
optoisolated encoder inputs 5V/20mA

Hall-sensors

type 120 degrees
optoisolated Hall-sensor inputs 5V/20mA

D ig ita l I/O lin e s

16 general-purpose optoisolated digital inputs 24V/10mA
6 of the inputs may serv e as hi gh speed posit ion capture strobes
8 open collector outputs with short circuit protect ion

max output voltage 48V

200µH
24÷80 VDC

2

Doc. #710220125

max c urrent per output 1A
max c urrent per board 5A

3 relay controlled 24 V power supplies

relay type OMRON G6B
max c ur rent 5A/30V DC
contact resi stanc e
mechanic al contact rel iability

Power Requirements

computer power supply
external operating power

external motor power

LS-221-BL Technical Reference

Ω

30m
20 x 10

6

+5V ± 5% / 1A
+12V ± 5% /1A
24V DC ± 20%
24÷80V DC

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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.

•

ISA bus system.

•

One free 8-bit or 16-bit bus slot. LS-221-BL itself requires space for two single PC-boards,

though only one bus slot connector is occupied

•

A m inimum of 512 K bytes conventional RA M installed

•

A free I/O address range x280÷x28F or x2A0÷x2AF, w here x m ay be 0, 1, 2, 3

•

Power supply: +5V ± 5% / 1A, +12V ± 5% /1 A

•

An external operating pow er: 24V DC ± 20%

•

An external m otor power in the range: 24÷80V D C (see note)

N ote: M o tor p ow er sup p ly

be electrically isolated

must

from computer ground and from operating power
supply (floating power supply).

•

A fan is required w hen driving high pow er m otors (greater than 48V@ 3A)

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LS-221-BL Technical Reference

3. INSTALLATION

: LOGOSOL assumes no responsibility for any damage

Note

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 operat ed by electronic engi neers
only. Instal lati on of any hardware in your system requir es you to
be familiar with the service and maintenance of the personal
computer.

Ask a computer serv i ce engi neer t o assist you i f you are

not familiar with electronics.

In sta lla t io n C h e c k list

•

Disconnect the power from target system. Never touch the electronics while the power is

on. This protects you and your electronics.

•

Touch the ground. Touch electrical ground to eventually unload your body from static

electricity.

•

Setup the board. Select the I/O address w ith J1 jump er block. Op tionally select IRQ line with

J2 jump er block. Setup Servo off M ode (J4) and Current Lim it Mode (J3).

•

Plug in the main pow er connector CN3. Check power supply – motor pow er (24÷80V) and

operating pow er (24V). Make sure the emergency stop contact between pins 7 & 8 of CN3

connector is closed.

•

Install the board. Plug in LS-221-BL into a free bus slot. Any slot m ay be used.

•

Screw the Board. Fix LS-221-BL with a screw to the chassis. Never switch on the power

w ithout LS-221-BL being fixed to the chassis. The board m ight have tilted w ithin the slot and

shortcut the bus w ith unpredictable results.

•

Test the installation. Sw itch on your system and check w hether the board does not influence

the normal computer operation. Switch on the LS-221-BL external power supply. Run the

application software.

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LS-221-BL Technical Reference

4. BOARD DESCRIPTION

Logosol LS-221-BL is highly integrated 2-axis digital servo controller with built-in power
amplifiers designed to control 3-phase brushless motors with integrated Hall-sensors and
quadrature increm ental encoders. It is intended for high precision and high reliability industrial
applications. The board is designed as a plug-in board for PC/AT compatible computers with
ISA bus. The unique

FlexWare™

design allows flexible wiring and pin assignment to meet
specific requirements and to achieve com patibility with an existing hardw are. To attain a high
reliability of operation in industrial environments, all inputs and outputs are optoisolated from
the com puter ground. LS-221-BL is an assem bly of a m other-board called Base M odule (BM), a
plug-in board that caries all input circuits - Input Board (IB), and Interface Wiring (IW) to
connect BM and IB to LS-221-BL front panel connector.

BASE

MODULE

#2

#1

XC 95108

b319

XC 9536

b321

Figure 1: LS -221-BL main components

+

IN TE RFA CE

WIRING

+

IN PU T

BOARD

=

LS-221-BL

9729100b

To deliver a maximum performance and flexibility LS-221-BL is designed using the latest
technologies. The onboard 25MHz PMD MC1231A DSP processor guaranties precise and
sm ooth m otion control and saves the host com puter’s tim e. All input, output and control signals

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LS-221-BL Technical Reference

are processed by ISP (In-System Program mable) chipset to allow fast and easy user-defined
customizations.

LS-221-BL controller is equipped with various hardware safety features - emergency stop
input, output overload protection, amplifier overcurrent protection, undervoltage and short
circuit protection. A dedicated diagnostic logic allows to identify the reason for breaking of the
servo loop (am plifier disable).

Figure 2: LS -221-BL block diagram

7

9729105b

Doc. #710220125

LS-221-BL Technical Reference

4.1. Memory Map

LS-221-BL is designed as a standard ISA b us peripheral device. To save I/O space, LS-221­BL uses only 16 bytes from the lowest 1024 I/O addresses range. The rest of LS-221-BL
registers occupy the space located at offset 0x400, 0x800 and 0xC00. For instance, if LS-221-

÷

BL base address is set to 0x280, the following I/O address are in use – 0x280

÷

0x680

0x68F, 0xA80÷0xA8F, 0xE80÷0xE8F. Eight base addresses are available, depending on

0x28F,

J1 setting – 0x280, 0x1280, 0x2280, 0x3280, 0x2A0, 0x12A0, 0x22A0, 0x32A0. The table below
shows LS-221-BL register location relatively to controller base address. The offsets are in
hexadecimal.

D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 D5 D4 D3 D2 D1 D0
0 MC1231A DATA REGISTER 0 MC1231A DATA REGISTER 0
1READY 1 MC1231A COMMAND REGISTER 1
2 2 2
3 3 3
4 4 4
5 5 5
6 6 6
7 7 7
8 IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0 8 8
9 IN15 IN14 IN13 IN12 IN11 IN10 IN9 IN8 9 9
A AE RST OPT SPS CL1 CL0 A AE RST OPT SPS A
B EMG STP MPF OPF EMGL STPL MPFL OPFL B B
CADI MPI CENADI C
D OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 D OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 D
E E P CS3 PCS2 PCS1 PCS0 APERES E
F F F

400 400 400
401 401 401
402 402 402
403 403 403
404 APE D7 APE D6 APE D5 APE D4 APE D3 APE D2 APE D1 APE D0 404 REQ APE#0 404
405 APE D15 APE D14 APE D13 APE D12 APE D11 APE D10 APE D9 APE D8 405 REQ APE#1 405
406 APE D23 APE D22 APE D21 APE D20 APE D19 APE D18 APE D17 APE D16 406 406
407 APE RDY BE OF OS BA PS CE 407 407
408 408 CURRENT LIMIT #0 (0x0 - 0xF) 408
409 409 CURRENT LIMIT #1 (0x0 - 0xF) 409
40A 40A 40A
40B 40B 40B
40C 40C 40C
40D 40D 40D
40E 40E 40E
40F 40F 40F

807 ID3 = 0 ID2 = 0 ID1 = 0 ID0 = 1 807 807

C07 ID7 = 1 ID6 = 0 ID5 = 1 ID4 = 1 C07 C07

READ WRITE

4.2. Base Module

The m ain part of LS-221-BL servo controller is the Base M odule (BM ). It carries the motion
control processor, PW M power amplifiers, optoisolated digital outputs, and servo control and
diagnostic logic. It can be com bined w ith various input boards to create the optim al solution for
w ide range of motion control tasks. The following diagram show s the layout of the Base M odule.

Table 1: LS- 221-BL Memory Map

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Doc. #710220125

(INTERFACE BOARD)

TERMINAL R MOTOR #0

TERMINAL S MOTOR #0

TE RMIN A L T M O T O R # 0

CN1

LS-221-BL Technical Reference

J1 JUMPER BLOCK
(I/O ADDRESS)

J3 JUMPER
(CURRENT LIMIT MODE)

P0
P1
(CURRENT LIM IT ADJUST)

J2 JUMPER BLOCK
(INTERRUPT LINE)

L1 (MOTOR POW ER OK)

CN2 (OUTPUTS AND
OUTBOUND POWER)

L2 (OPERATING POWER OK)

J4 JUMPER

TERMINAL S MOTOR #1

TERMINAL R MOTOR #1

TE RMIN A L T M O T O R # 1

(SERVO OFF MODE)

F1 FUSE
(OPERATING POW ER)

CN3 CONNECTOR
(EXT. POWER & EM . STO P)

F2 FUSE
(M O T O R P OWE R)

9729101b

Figure 3: B ase Module board layout

BM board is equipped with two LED indicators for fast and easy visual check of the
controller status. In order to close the servo loop and enable the power amplifiers both LED
m ust be O N. After the controller is pow ered and initialised, L1 is O N if the m otor pow er supply
is present and if there is no short circuit between any m otor term inal and the computer ground
or the ground of the operating pow er. L2 is ON if the operating pow er is present and none of the
digital outputs is overloaded.

4.2.1. Servo Channels

LS-221-BL imp lem ents a latest DSP technology for m axim um perform ance and precision. The
controller is based on PMD MC1231A DSP motion control chipset. This allows LS-221-BL to
perform a smooth and precise control of two servo axes requiring minimum resource from the
host processor.

The host computer specifies the acceleration, maximum velocity and final position. A
trapezoidal or S-curve profile may be selected. MC1231A uses this information to control the
movement by accelerating as specified, until the maximum velocity is reached or until
deceleration begins to stop at the specified final position. The deceleration rate is equal to the
acceleration rate. MC1231A continuously keeps track of the absolute m otor position using the

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LS-221-BL Technical Reference

encoder feedback signal. The encoder delivers two 900 phase shifted signals to determ ine the
speed and direction of the motor's m otion.

At any time during the move, the maxim um v elocity
and/or the target position may be changed, and the motor will accelerate or decelerate
accordingly. All trajectory param eters are 32-bit values.

During the m otion, on every samp ling interval, MC 1231A subtracts the actual position (feed
back position) from the desired one (profile generator position). The resulting position error is
processed by digital filter to produce a motor control command. MC1231A uses a
programmable digital Proportional Integral Derivative (PID) filter to compensate the control
loop. The motor is held at the desired position by applying a restoring force that is proportional
to the position error, plus the integral of the error, plus the derivative of the error. All PID filter
coefficients are 16-bit values.

In addition to trajectory generation and servo loop closure the MC1231A chipset provides
sinusoidal commutation for 3-phase brushless motors. The comm utation portion of the chipset
uses as input the m otor com m and signal from servo loop filter. This pre-com m utated com m and
is then multiplied by commutation values derived from an internal lookup Sin/Cos table. The
com mutation angle used in the Sin/Cos table is determined by the position encoder as well as
param eters set by the host which relate the specific encoder used to the m otor m agnetic poles.
The encoder index pulse is used to m aintain com m utation synchronization.

A noth er fe atur e is th e ab ility to u se H a ll-sen so rs fo r p has e in itializa tion. Thre e H all- sen sor s
initially determine the motor phasing and sinusoidal commutation begins automatically. The
initialization occurs without any motor motion. For motors not supplied with Hall-sensors, a
special algorithmic phase-initialization procedure is available. During the algorithmic
initialization the motor m ay m ove suddenly in any direction. Proper safety precaution should be
taken to prevent dam age from this m ov em ent.

For programming information see the PMD MC1231A chipset manual. The following table
show s m em ory location of the MC 1231A registers:

R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0 R/W
Base Addr + 1 Write
Base Addr + 1 Read

READY

MC1231A DATA REGISTE R

MC1231A COMMAND REGISTER

Table 2: MC 1231A r egister locati on

4.2.2. Built-in Power Amplifiers

Each LS-221-BL servo channel is equipped with a built-in power amplifier, capable to
deliver up to 10A. The amplifiers are designed as three half H-bridges with FET transistors
(IR F9540 and IRC 530). To achieve a high noise imm unity and reliability, the pow er circ uits a re
optoisolated from the comp uter ground.

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LS-221-BL Technical Reference

MOTOR POWER

(FLOATING)

+5V

HCPL2631

+5V

HCPL2631

+5V

PWM

PWM PROCESSING

HCPL2631

CHANNEL #0 POWER AMPLIFIER

ISOL AT E D FRO M

COMPUTER GROUND

OVERCURRENT

SENSE

MOTOR #0 TERMINAL R

MOTOR #0 TERMINAL S

MOTOR #0 TERMINAL T

TO

FROM MOTION PROCESSOR

AM P L IF IE R E NABLE

SERVO CONTROL

STATUS

HOST PROCESSOR

COMPUTER

POWER
SUPPLY

+12V
+5V

+12V

LM 317

CHANNEL #1 POWER AMPLIFIER

AND

DIAGNOSTIC

ENCODER POWER (+9V)

MOTOR #1 TERMINALS

MOTOR POWER FAILURE
OPERATING POWER/OUTPUT FAILURE
EMERGENCY STOP INPUT
ST OP IN P UT S

9729200b

Figure 4: B uild-in power amplifiers

PWM signals generated by PMD Motion Processor are form ed by special circuit to meet the
power bridges requirements. The amplifier enable (AE) is controlled by servo control and
diagnostic logic. The amplifiers are immediately shut down in case of emergency - power
failure, excess current or output overload, emergency stop. The reason caused amplifiers to
disable is latched in special register and is available to the host for diagnostic purpose. If the
am plifiers are disabled while the m otors run, they can stop in one of two w ays depending on J4
jumper setting. W ith J4 installed, the motors have their windings shorten, which means faster
stop, to prevent eventually machine dropping. With J4 open, the motors have their windings
open, which causes m achine to stop sm oothly. If the motors have breaks associated with them,
they can be activated autom atically im m ediately after the amp lifiers are disabled.

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LS-221-BL Technical Reference

The output current from each half H-bridge is continuously monitored by a protection logic

÷

and m ay be lim ited to a value adjustable in the range of 2
program med individually using a special register. The range 2

10A. The limit for each axis can be

÷

10A is divided into 16 steps. A
trim mer-pot (P0, P1) is used for precise adjustm ent of the selected lim it. If the am plifier output
is overloaded or even shorted for a moment, the bridge output current is limited to the
programmed value. The protection has two modes depending on J3 jumper setting. With J3
jumper installed, if the overloading takes place more than 100 ms, the servo loop will be shut
dow n autom atically and the PW M pow er am plifiers w ill be dis ab led. If J3 is left op en , the s erv o
loo p w ill re m ain clos ed r ega rdle ss o f th e ov er load duration. The output current is limited to the
specified value.

See 4.2.4.3 for m ore information on current limit.

4.2.3. Digital Outputs and Outbound Power

Being a fully integrated servo controller, along with the servo channels, LS-221-BL offers 8
general purpose digital outputs equipped with high voltage, high current FET transistors and
three relay controlled power sources. The power sources are named based on their typical
application. SPS (System Power Supply) is used basically to power sensors. It is available
immediately after the controller is powered and initialised. You can not turn off this power
w ithout disabling the servo loop and the digital outputs as w ell. OPT (O PTional pow er supply)
is general-purpose pow er source and m ay be controlled individually. SPS must be ON to enable
OPT. OPS (Output Power Sup ply) is used basically to pow er m otor breaks and various valves
and sw itches. OPS can not be controlled separately. It depends on am plifier enable status and
SPS only. If the power amplifiers are enabled, the OPS is present and if the amplifiers are
disabled, the OPS is OF F. This is useful for devices that should be shut off autom atically w hen
the amp lifiers are disabled, for instance m otor breaks or other emerg ency circuits.

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LS-221-BL Technical Reference

9729901

Figure 5: Digital out puts and outbound power sources

The outputs are open collector transistors connected to the ground of the op erating voltage.
They are optoisolated from the computer ground. All outputs are short-circuit protected. If one
of them is overloaded, the protection circuit w ill shu t dow n all tra ns istor outp uts . O PT and SPS
relays will not be affected. The servo loop will be turned off automatically (amplifier disable)
and this will turn off OPS as w ell. Once activated, the protection keeps outputs disabled until
the reason that caused the overloading is present. The outputs are controlled through the
associated registers.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xA R/W AE RST

Base Addr + 0xD R/W

OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0

OPT SPS

CL1 CL0

Table 3: Digital outputs and outbound power registers

To activ ate an output or a power source, logic one m ust be written t o the corresponding contr ol bit.
Activating the emergency stop will turn off SPS and will disable all other power sources and outputs.

For
safety reasons, to prevent an accidental turn on after an emergency, SPS is equipped with a
special double buffered logic. In order to restore SPS after being shut off by emergency stop,
SPS must be cycled off-o n . SPS control bit should be first reset to logi c zero an d af ter th at set t o
logic one.

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LS-221-BL Technical Reference

4.2.4. Servo Control and Diagnostic

The servo control and diagnostic logic allows the host to set up the controller and to keep

track of the current LS-221-BL status.

4.2.4.1. Motion Processor Reset

After hardware reset or after system power up, MC1231A chipset is reset. To remove the
servo chip reset, logic zero should be w ritten to the corresponding RST bit. W riting logic one to
the sa me bit will pu t M C 1231A in reset condition.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xA R/W AE

RST

OPT SPS CL1 CL0

Table 4: MC 1231A r eset c ontrol

4.2.4.2 . Ser vo Loop

During normal operation, the LS-221-BL servo loop m ust be closed. W ith servo loop closed,
the controller constantly reads the current motor position from the encoder and applies the
necessary voltage to the m otor to keep the desired trajectory or position. In case of em ergency
this loop must be broken (i.e. the power amplifier must be disabled) to protect the controlled
object and/or the controller. W ith servo loop open, the controller continues to keep track of the
m otor position but doesn’t apply any voltage to the m otor. LS-221-BL servo loop is controlled by
A E ( A mp lif ier E na b le) sig n al.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xA R/W

AE

RST OPT SPS CL1 CL0

Table 5: Amplifier Enable control

To set AE signal a logic one should be w ritten to the corresponding control bit. AE m ay be
reset either by writing logic zero to the same bit, or automatically by servo off condition
generated by LS-221-BL protection circuits.

For safety reasons, AE is equipped with the
same double buffered logic as SPS to prevent an accidental turn on after an
emergency shut down. To restore AE after an emergency, first a logic zero must be
written to AE control bit. A subsequent writing of logic one to AE control bit will
close the servo loop again and will e na b le t h e a m p lifie r s

.

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LS-221-BL Technical Reference

9729302b

Figure 6: S ervo control and diagnostic

There are several sources that can cause servo loop to break.

•

Moto r Po we r Failure (MP F)

To power the motors, LS-221-BL requires separate power supply isolated from the
com puter ground and from the operating (24V) pow er supply as well. If Motor Pow er is
below the undervoltage limit or above the overvoltage lim it, M PF is set to logic one and
AE is automatically disabled. MPF is also set to logic one in case of leakage between
high voltage m otor circuits and any of low v oltage com puter or 24V circuits. A current as
low as 0.5m A w ill trigger the p rotection. The current M PF value is latched as MPFL at
the moment the servo loop is broken.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xB Read EMG STP MPF OPF EMGL STPL MPFL OPFL

Table 6: MP F status

•

Output Overload / Operating Power Failure (OPF)

The operating power required for the Outputs and Outbound Power Sources must be

20%. If it is out of range, the OPF is set to logic one and AE is automatically

24V

±

15

Doc. #710220125

disabled. All digital outputs are short circuit protected. If any of them is overloaded, all
outputs are disabled and OPF is set to logic one. To distinguish between the two
reasons, OP F should be checked with all outputs reset. In this case only m issing or out
of range operating pow er can activate OPF. The current OPF value is latched as O PFL
at the m om ent the servo loop is broken.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xB Read EMG STP MPF

Table 7: O P F status

•

Emergency Stop Input (EMG)

LS-221-BL is equipped with emergency stop input. To operate LS-221-BL, a normally
closed contact must be connected to that input. Opening the contact will im mediately
disable the am plifiers and all outputs and will s hu t o ff th e ou tb ound pow er sources. If the
emergency stop is activated, EMG is set to logic one, otherwise is reset to logic zero.
EMG is continuously available to the host and the current EMG value is latched as
EM G L at the m om ent the servo loop is broken.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xB Read

EMG

STP MPF OPF

OPF

LS-221-BL Technical Reference

EMGL STPL MPFL

EMGL

STPL MPFL OPFL

OPFL

•

Stop Inputs (STP) (optional)

Som e of the general purpose inputs or a selected combination of them can be used as
an additional emergency stop. This is a custom option and may be installed by user
request. By default it is not used. When the option is installed and stop input is activated,
STP is set to logic one. Under norm al conditions STP is logic zero. STP is continuously
available to the host and the current STP value is latched as STPL at the moment the
servo loop is broken.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xB Read EMG

•

Current Limit (CL)

When one or more of the power amplifiers reach the programmed current limit the
corresponding CL signal is set to logic one. Otherwise CL is logic zero. CL0, CL1
represent the current overload respectively for channel 0, 1. While the servo loop is
closed (i.e. AE=1), CL0 and CL1 show the actual states of the current limitation for the
corresponding channels. If the servo loop is broken (i.e. AE=0), CL0 and CL1 keep the
CL values from the mom ent the servo was shut down. By reading the register the host
can determ ine overloading of w hich channel had caused the problem.

Table 8: EM G status

STP

Table 9: STP status

MPF OPF EMGL

STPL

MPFL OPFL

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xA Read AE RST OPT SPS

Table 10: CL stat us

16

CL1 CL0

Doc. #710220125

LS-221-BL Technical Reference

4.2.4.3. Amplifiers Current Control

The output of each am plif ier is protected agai nst short circuit or overl oad. The current del ivered t o
the load is constant ly moni tored and com pared to a li mit t hat can be set indi vi dually f or each axi s. The
current may be limited to a value in the range of 2÷10 A with 4-bit precision. Only the four MS B ar e used.
Wr iting 0x00 to the corresponding register sets the c ur rent lim it to the lowest level (l ess t han 1A). Writing
0xF0 sets the cur r ent limit to the highest level - 10A .

R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0x408 Wr ite
Base Addr + 0x409 Wr ite

CURRENT LIMIT #0 (0 ÷ 0xF)
CURRENT LIMIT #1 (0 ÷ 0xF)

Table 11: Current lim it registers

If J3 jumper is installed, each time a channel reaches the current limit, the corresponding
CL signal is set to logic one. The CL signals are continuously available to the host for diagnostic
purpose or for a real time control. If the overloading takes place for more than 100 ms, the
servo loop will be shut down autom atically and the PWM power amplifiers will be disabled.
Special register latches current CL values at the mom ent the servo loop is broken. By reading
the register the host can determine w hich channel had caused servo off.

If J3 is left open, CL signals are forced to logic zero. The servo loop w ill remain closed

regardless of the overload duration. The output current is lim ited to the specified value.

4.2.4.4. Interrupt Processing

Reading LS-221-BL Interrupt Status register returns logic one for each event that currently
have requested interrupt. W riting logic zero to the Interrupt Mask register allows each event to
be individually m asked off. By default after pow er up, Interrupt Mask register is cleared and no
interrupts are enabled (except the IRQ from M C 1231A, see 4.2.5.2.)

LS-221-BL has two sources that can generate interrupt request (IRQ) to the host as follows:

ADI - Amplifier Disable Interrupt

LS-221-BL is capable to generate interrupt request, each time the amplifiers are disabled. It
doesn’t matter if the amp lifiers are disabled by any of the protection circuits or by the software.
Setting the Interrupt Mask enables or disables AD I.

EN AD I = 1, ADI enabled
EN ADI = 0, ADI disabled

MPI – Motion Processor I nterrupt

MC1231A m otion processor can generate IRQ due to various events. See MC1231A m anual
for information how to control interrupt requests.

If MC1231A interrupt is enabled and activated, MPI flag in the LS-221-BL Interrupt Status
register is set to logic one. MPI is just a flag and can not be masked off using LS-221-BL
Interrupt M ask register. MC 1231A control register should be used to handle this interrupt.

R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xC Read
Base Addr + 0xC Write

ADI MPI

EN ADI

J2 jump er block selects interrupt line to the host. IRQ 7, IRQ 10, IRQ12, IRQ15 may be used.

Table 12: I RQ Status and Mask registers

17

Doc. #710220125

LS-221-BL Technical Reference

4.2.5. Board Identifier

Due to its flexible architecture and ISP (In System Programmable) capability, LS-221-BL
allows fast and easy customizations. To provide information for the current controller
configuration, LS-221-BL features an 8-bit ID num ber. Tw o four-bit read-only registers form the
controller ID .

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0x807 Read

Base Addr + 0xC07 Read

ID3 ID2 ID1 ID0
ID7 ID6 ID5 ID4

Table 13: I D r egisters

Base address+0x807 = XXXX DDDD
Base address+0xC07 = XXXX DDDD

= DDDD DDDDBase M odule ID

Figure 7: ID num b er

The ID for the standard LS-221-BL configuration is 0xB3.

4.2.6. Interface Connectors

The Base Module carries two interface connectors available to the user. CN3 is the entry for
the external motor and operating power supplies. The emergency stop input is also located
here. All digital outputs and outbound power sources are wired to CN2 connector. A block
diagram of C N 2 together w ith CN 3 is shown b elow.

18

Doc. #710220125

MC1231A

MOTION PROCESSOR

LS-221-BL Technical Reference

OUT0

OUT1

OUT2

CN2 CONNECTOR

OUT3

OUT4

OUT5

OUT6

OUT7

CONTROL REGISTERS

OUTPUTS AND OUTBOUND POWER

CN3 CONNECTOR

EMERGENCY STOP

OPERATING
POWER (24V)

MOTOR
POWER

9729102b

OVERLOAD

AE

OPT

FRO M

LOGIC

PROTECTION

SENSOR

OPSSPS

H-BRIDGESH-BRIDGES

MOT #0MOT #1

TTSRRS

OUTPUT

FUSE

SHORT

CIRCUIT

SENSOR

FUSE

Figure 8: B lock Diagram of CN2 & CN3 connectors

19

Doc. #710220125

4.2.6.1. CN3 Connect or (External Power)

LS-221-BL Technical Reference

8
7
6
5
4
3
2
1

EMERGENCY STOP

OPERATING POWER GROUND ( )
OPERATING POWER (+24V)

MOTOR POWER

}

Figure 9: CN3 connector location and pinout

9729103b

20

Doc. #710220125

4.2.6.2. CN2 Connector (Outputs & Outbound Power)

14 - OUT0
13 - OUT1
12 - OUT2
11 - OUT3
10 - OUT4
9 - OUT5
8 - OUT6
7 - OUT7
6 - +24V OPS
5 - +24V OPT
4 - +24V SPS
3 - +24V OPERATING POWER (FUSE)
2 - EMERGENCY STOP
1 - OPERATING POWER GROUND

LS-221-BL Technical Reference

9729104b

Figure 10: CN2 c onnector locati on pinout

21

Doc. #710220125

LS-221-BL Technical Reference

4.3. Input Board

LS-221-BL is designed as multipurpose motion controller. To increase controller flexibility, all
input circuits are located on a separate board - input board (IB). A flat ribbon cab le connects IB
to the controller’s interface connector, m ounted on the front panel.

The front panel connector and the input board may be ordered in
different custom designed configurations for specific applications.

The standard LS-221-BL input board is LS-421-2112.

9737100

Figure 11: LS -421-2112 input board layout

LS-421-2112 features:

•

16 general purpose digital optoisolated inputs

•

6 optoisolated inputs for Hall-sensors

•

Op toisolated interface and power supp ly for 2 increm ental encoders

•

2-channel optoisolated receiver for 2 multi-turn absolute position encoders, power

supply and backup battery.

All input lines and encoder signals are processed by ISP (In System Programmable) logic

de v ice fo r maximum f lex ib ility.

22

Doc. #710220125

LS-221-BL Technical Reference

Figure 12: LS -421-2112 Input Board block diagram

23

9737904b

Doc. #710220125

LS-221-BL Technical Reference

4.3.1. Digital Optoisolated Inputs

All 16 inputs IN0÷IN15 may be used as general-purpose inputs, although some of them may
have additional functions. Six may serve as strobes for high speed position capturing. APE0
and APE1 are dedicated as inputs for tw o m ulti-turn absolute position encoders.

4.3.1.1. General Purpose Inputs

The optoisolated inputs are designed to work w ith open collector or contact sensors.

9737903b

Figure 13: General purpose inputs

Inputs IN0÷IN15 require external +24V power supply. On LS-421-2112 input board, the
operation power supply (OPS) is used to pow er the inputs. The corresponding sensor should
be connected between the input and the power source ground. The sensor should be able to
sink 10mA @ 24V in order to activate the input.

24

Doc. #710220125

Figure 14: LS -221-BL input connection diagram

LS-221-BL Technical Reference

9737905

APE0, APE1 are designed to work as data inputs for Absolute Position Encoders (APE).
Both inputs use +5V power supply. To activate inputs APE0, APE1 load should be able to sink
20m A @ 5V .

9738902b

Figure 15: Absolute Posit ion Encoder (APE) inputs

Tw o eight-bit registers represent IN0÷IN15 state.

R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0x8 Read
Base Addr + 0x9 Read

IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0

IN15 IN14 IN13 IN12 IN11 IN10 IN9 IN8

Table 14: I nput registers

25

Doc. #710220125

LS-221-BL Technical Reference

When input is activ ated (i .e. the sensor is cl osed) the corresponding input register bi t is set to logi c

zero. For non- ac tivat ed inputs register bit s are set t o logic one.

4.3.1.2. H all-s ens or Inputs

LS-421-2112 is equipped with six (three per axis) dedicated inputs for Hall-sensors. The

inputs use +5V pow er supply. To activate them, load should be able to sink 20m A @ 5V .

9737908b

Figure 16: Hall-sensor inputs

The Hall-sensor inputs can not be accessed directly from the host com puter. The MC 1231A

registers should be used to read their status.

4.3.1.3. High Speed Position Capture Inputs

MC1231A DSP motion control chipset is able to record the absolute motor position using
encoder index line as strobe. See MC 1231A m anual for information how to use position capture
mode. LS-221-BL is equipped with special logic, which allows replacing the encoder index
signal with some of the controller inputs. Writing corresponding number to PCS (Position
Capture Select) register selects one of IN6, IN9, IN10, IN11, IN12, IN13 inputs to serve as a
strobe.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xE Write

PCS3 PCS2 PCS1 PCS0

APE RES

Table 15: PCS control register s

Either low (input is closed to the ground) or high (input is open) level may be selected to
trigger the capture. For LS-421-2112 selected strobe input is comm on for both axes. Row 14 or
15 should be selected during the home procedure. This will allow each axis to capture m otor
position using its own encoder index signal.

26

Doc. #710220125

LS-221-BL Technical Reference

# PCS3 PCS2 PCS1 PCS0 Channel#0 Channel#1 Active level

00000 IN6 IN6 Low
1 0 0 0 1 IN6 IN6 High
20010 IN7 IN7 Low
3 0 0 1 1 IN7 IN7 High
4 0 1 0 0 Reserved Reserved ­5 0 1 0 1 Not used Not used ­60110 IN2 IN2 Low
7 0 1 1 1 IN2 IN2 High
81000 IN5 IN5 Low

9 1 0 0 1 IN5 IN5 High
10 1 0 1 0 IN8 IN8 Low
11 1 0 1 1 IN8 IN8 High
12 1 1 0 0 IN9 IN9 Low
13 1 1 0 1 IN9 IN9 High
14 1 1 1 0 Index#0 Index#1 Low
15 1 1 1 1 Index#0 Index#1 Low

Table 16: Selecting Str obe Inputs

4.3.1.4. Emergency Stop Inputs (optional)

In some customized configurations, one or more of general-purpose inputs may be used as

additional em ergency stop. The standard version of LS-421-2112 doesn’t supp ort this option.

4.3.2. Incremental Encoder Interface

LS-421-2112 input board is designed to work w ith quadrature incremental encoders with index
pulse. Encoders must be equipped with open collector outputs or line drivers capable to sink
20mA@5V. Medium-speed HP2531 optocouplers are used to provide 20mA current loop for
increased noise im m unity. LS-421-2112 receivers are rated for speeds up to 1,000,000 encoder
counts per second.

Figure 17: Incremental E nc oder interface

27

9737906b

Doc. #710220125

LS-221-BL Technical Reference

To prevent voltage drop across long interface cables, LS-221-BL provides +9V for encoder

pow er. Additional 7805 voltage regulator located close to the encoders is required.

9737907

Figure 18: E ncoder power supply

See application notes for more infor mation.

4.3.3. Mu lti-turn Absolute Encoder Receiver

LS-421-2112 is designed to work with two multi-turn absolute position encoders. The

following types from Tamag aw a Seiki Co are supported:

SA35-11/24bit-LPS-5V
SA56-11/24bit-LPS-5V

SA35/56 series encoder consists of tw o parts – increm ental and absolute. The incremental
part works as standard incremental encoder. It should be connected to LS-421-2112
incremental encoder interface. The data from SA35/56 incremental encoder is received and
processed by MC1231A motion control chipset. SA35/56 absolute part constantly transmits
serial data consisting of 24-bit absolute position and 6-bit status. Manchester code with 3-bit
CRC is used. Received data is decoded, checked for errors and stored in 24-bit data register
and 6-bit status register, available to the host. There is only one data and status register for
both absolute encoders. Receiver works on request. Request from the host selects one of the
encoder inputs APE0, APE1 and clears APE data ready flag. Clearing APE ready enables
receiver. It acquires one valid data packet and sets APE data ready flag to logic one. Thereafter
the receiver enters standby mode and w aits for the next request command.

Once APE ready flag is set to logic one APE data and status are valid and may be read by

÷

the host. The minimal tim e to com plete the request is 67

109 µs. In noisy environm ent this tim e
may increase. If the receiver detects an error, it will discard received data and automatically
start new acq uiring procedure. In m ost cases the request w ill be com p lete d fo r les s than 1 m s.
To request absolute position from certain encoder, host should write a dummy data to the
corresponding register.

Base Addr + 0x404 Write
Base Addr + 0x405 Write

APE data and status registers are located as follows:

R/W access D7 D6 D5 D4 D3 D2 D1 D0

REQ APE#0
REQ APE#1

Table 17: APE request regi sters

28

Doc. #710220125

LS-221-BL Technical Reference

R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0x404 Read
Base Addr + 0x405 Read
Base Addr + 0x406 Read
Base Addr + 0x407 Read

APE D7 APE D6 APE D5 APE D4 APE D3 APE D2 APE D1 APE D0
APE D15 APE D14 APE D13 APE D12APE D1 1 APE D10 APE D9 APE D8
APE D23 APE D22 APE D21 APE D20APE D1 9 APE D18 D17 APE D16

APE RDY BE OF OS BA PS CE

Table 18: APE data & status registers

The following is a brief description of the abbreviations used in Table 18. For more

inform ation please refer to Tam agaw a S A35/56-11/24bit-LPS-5V data sheet.

APE RDY APE ready flag. If READY=1, data and status are valid. If READY=0, data acquiring is in

progress.

APE D23 ÷ D0

Absolute position encoder data
CE Counter error stat us
PS Pr e- load status
BA Battery alarm
OS Over-speed
OF Over-flow
BE Battery error

SA35/56 needs reset after being disconnected or to clear an error (i.e. over-speed, over-

flow). To reset encoder, logic one should be written to the corresponding control bit. SA35/56

÷

requires reset signal to be held for at least 4

5 sec. To enable SA35/56, logic zero should be

w ritten to the sam e control bit.

R/W access D7 D6 D5 D4 D3 D2 D1 D0

Base Addr + 0xE Write

PCS3 PCS2 PCS1 PCS0

RES

Table 19: APE reset control bit

Tamagawa SA35/56 multi-turn absolute encoder requires a small external battery to keep
track of motor position when the main power is off. A fully charged LS-421-2112 on-board
battery is capable to power two SA35 encoders for m in 300 hours. During the norm al operation
the battery is autom atically recharged.

29

Doc. #710220125

LS-221-BL Technical Reference

b

4.4. Int erface Wiring

LS-221-BL may be equipped wit h v arious int erfac e connectors. T o all ow fast and easy adaptati on to
user-defi ned int erf ac e and pinout , t he i nterface connector i s designed as separat e m odule. It i s m ount ed
on the front panel and is connected to the control ler with a set of wir es (user harness). The LS- 221-BL
standard interface wiring is shown below.

MOT1 R

N.C.

N.C.

MOT0 R

ADE

MOT0 R

MOT0 R
MOT0 S

MOT0 T

MOT1 S
MOT1 R
MOT1 T

MOT1 R

Z

Y

X

W

Z

24V/OP T

(BASE MODULE)

d

IN1

c

IN0

b

APE1

a

APE0

R

24V

APE RES APE RES
2
13579

2x20 FEMALE

f

IN3

IN5

e

IN2

IN4

f

ace

APE0 APE0

468

h

b

d

APE1 APE1

IN0/APE2 IN0

IN1/APE3 IN1

IN2 IN2

IN3 IN3

IN4 IN4

101214161820222426283032343638

K

MOT1 T

D

C

B

A

F

MOT0 S

MOT0 T

OUT4

J

MOT1 S

OUT3

H

OUT0

OUT2

F

MOT0 T

OUT1

E

MOT0 S

J

L

K

H

NPR

M

OUT0

MOT1 S

MOT1 T

OUT1

OUT2

OUT3

OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
24V/OPS
24V/OPT
24V/SPS
24V

(BASE MODULE)

TO MOTO R TERM INALS

V

N.C.

P

N

M

L

S

OUT4

APE RES

OUT5

U

OUT7

T

OUT6

S

OUT5

R

APERES

T

U

OUT6

OUT7

W

24V/OPT

24V/OPS

24V/SPS

X

Y

24V/SPS

24V/OP S

TO CN2 CONNECTOR

n

IN9

j

h

j

l

k

40 CONDUCTOR RIBBON CABLE

IN5 IN5

IN6 IN6

IN7 IN7

11

13151719212325272931333537

IN13

m

IN8

IN12

IN11

l

IN7

IN10

k

IN6

t

r

s

x

p

n

m

IN8 IN8

IN9 IN9

IN10 IN10

IN11 IN11

IN12 IN12

IN13 IN13

IN14 IN14

y

IN15

t

IN14

s

+9V

r

ENC.GND

p

SHIELD

y

w

FF

IN15 IN15

+9V +9V

+9V +9V

BAT BAT

x

w

v

u

v

u

JJ

BAT BAT

GND GND

GND GND

HB1 HB1

CC

HC1

C1

BB

AA

HC0

z

C0

BBMMEEzKK

CCNNHH

HC1 HC1

C1 C1

HA1 HA1

A1 A1

JJ

HB1

NN

HA1

B1

HH

A1

MM

FF

BAT

HB0

B0

AA

B1 B1

HB0 HB0

HC0 HC0

EE

DD

C0 C0

LL

HA0 HA0

HA0

A0

A0 A0

LL

KK

DD

B0 B0

40
39

9729 501

.

(F R O N T V IE W )

56-PIN ELCO CO NNEC TOR

(INPUT BOARD)

TO CN101 CONNECTOR

Figure 19: S tandard Interf ac e Wiring

30

Doc. #710220125

LS-221-BL Technical Reference

4.5. Power Supply

LS-221-BL controller requires two external power supp lies - operating p ower (24V D C) and

÷

motor power (24

80V DC). The motor power supply is used to drive the motors only. The
operating power supply is used to power the onboard input and output circuits and, optionally,
to power the sensors and other circuits in the controlled system .

Important:

floating.

Note that the motor power is

This is required for proper operation of
the protection circuits. Otherwise, in case of wrong
wiring or a short circuit, controller and/or user
electronics m ay be damag ed.

CN 3 connector is the entry for the external pow er supplies. In addition, the emergency stop

is connected here. The schem atic of a typical pow er supply for LS-221-BL is shown b elow:

TO LS-221-BL SERVO CONTROLLER

(CN3 CONNECTOR)

MOTOR POWER

24 - 80V

MAINS

OPERATING POWER

24V

ZENER DIODE

30-100V / 0.5W

(OVERVOLTAGE

SHUT DOWN)

EMERGENCY STOP

Figure 20: Typical power supply

31

9729920b

Doc. #710220125

5. BOARD SETUP

5.1. Base I/O Address

Up to 8 boards may be installed in one com puter.

LS-221-BL Technical Reference

0x0280 0x02A0
0x1280 0x12A0
0x2280 0x22A0
0x3280 0x32A0

JUMPER OPEN
JUMPER CLOSED

9729106b

Figure 21: Base I/O Address (J1 jumper block)

5.2. Interrupt Line

There are four hardware interrupt lines available. It is not allowed IRQ line to be shared w ith

another LS-221-BL controller or other device.

IRQ7 JUMPER OPEN

JUMPER CLOSEDIRQ10
IRQ12
IRQ15

Figure 22: Interrupt line (J2 jumper block)

32

9729107b

Doc. #710220125

5.3. Current Limit Mode

LS-221-BL Technical Reference

JUMPER OPENCURRENT LIMIT

JUMPER CLOSEDSHUT DOWN

9729108b

Figure 23: Current Limit Mode (J3 jumper)

5.4. Servo Off Mode

JUMPER OPENSMOOTH STOP

JUMPER CLOSEDFAST STOP

9729109b

Figure 24: S ervo Off Mode (J4 jumper)

33

Doc. #710220125

6. APPLICATION NOTES

LS-221-BL Technical Reference

Figure 25: A bsolute encoder sample wiring

34

A972900 2

Doc. #710220125

7. BASIC CONT ROL PROCEDURES

This section shows algorithm flow charts for som e basic control procedures.

7.1. Board identificat ion

Start

Extract high ID nibble

(Read Base addr. + 0xC07)

Extract lo w ID nibble

(Read Base addr. + 0x807)

Form ID number

LS-221-BL Technical Reference

Validate ID

Yes

Identification OK

End

No

Identification error

End

35

Doc. #710220125

7 .2 . B o a r d In itia liz a tio n a n d P o w e r On

(

)

Start

LS-221-BL Technical Reference

RST == 0

No

Initialize MC1231A

Init == OK

Yes

Deactivate all outputs

APE RES = 0

Disable ADI

EMG == 1

No

Activate SPS

Set SPS = 0; Set SPS = 1

Wait 100 mS

Yes

No

Yes

MC1231A is already initialized

Error initializing MC1231A

Set RST = 1; SPS = 0

Emergency Stop is activated

or Operation Power is missing

Set SPS = 0

End

End

OPF == 1 End

No

MPF == 1

No

Initialize w ith default values

PCSi = default;

Outputs = defaults;

OPT = default;

Current limit[i] = defaults

End

Yes

Yes

Operation Power is out of range

or an output is overloaded

Set SPS = 0

Motor Power is out of range

or there is a leakage

Set SPS = 0

36

End

Doc. #710220125

7.3. Enable Amplifiers

(

)

Start

LS-221-BL Technical Reference

AE == 1

No

SPS == 1

Yes

OPF == 0

&

MPF == 0

Yes

Send STOP Command to MC1231A

Moving axis ?

No

Activate AE

AE=0; AE=1

Yes

No

No

Yes

The amplifiers are already enabled

SPS is not activated

Operating Power or Motor Power

are missing

One or more axes are moving

End

End

End

End

Wait 150 mS

AE == 1

Yes

Set up Amplifier Disable Interrupt

if proper interrupt handler is installed

(EN ADI = 1)

End

No

The amplifier ena ble failed

Run amplifier diagnostic

37

End

Doc. #710220125

7.4. Disable amplifier

(

)

(

)

LS-221-BL Technical Reference

Start

Disable EN ADI

EN ADI=0

Deactivate AE

AE=0

End

38

Doc. #710220125

7.5. Diagnostic – Finding Out the Reason Caused Ampl ifier Disable

Start

LS-221-BL Technical Reference

AE ==1

No

EMG(L) ==1

No

STP(L) == 1

No

MPF(L) == 1

No

OPF(L) == 1

No

CL0 == 1

No

CL1 == 1

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Amplifier is enabled

Update status: Emergency Stop activated

Update status: Emergency Input activated

Update sta tu s: Motor Power Failure

Update status: Operating Power Failure

Update status: Amplifier channel #0 ov erloade d

Update status: Amplifier channel #1 ov erloade d

End

No

If no hardware Amplifier Disable reasons found,

amplifier disabled by software.

End

39

Doc. #710220125

L

L

L

O

O

O

G

G

G

O

O

O

S

S

S

O

O

O

L

L

L

Logosol, Inc.
1155 Tasman Drive
Sunnyvale, CA 94089
USA

Tel: [phone]
Fax: [phone]
Http://www.logosolinc.com

Document No 710220125

© 1999 Logosol, Inc.

Printed in USA