Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com
Features
Motors supported:
- Panasonic A and S series motors
- Brushless 60/120° commutated
- Brush-commutated (DC)
- Motors with index coded
commutation
Output current
- 12A peak, 8A continuous
- 20A peak, 12A continuous
12 to 90V single power supply
Path point buffer for coordinated motion
control
30/60/120 Hz rate between the points
Absolute and relative moves
32-bit position, velocity, acceleration,
16-bit PID filter gain values
Comprehensive motor output short-circuit
protection:
- Output to output
- Output to ground
- Output to power
Adjustable motor current limit
Over/under voltage shutdown
Overheating protection
Hardware stop input
Forward and reverse over travel inputs
Communication speed 19.2 - 115.2 KBps
Servo rate 2 kHz
PWM frequency 20 kHz
Command rate up to 1000/sec
Encoder transition rate up to 5MHz.
Small footprint (5” x 3.3” x 0.85”)
Description
LS-173CM is an enhanced version of the standard
LS-173CM Servo Drive, augmented with special
features for supporting the coordinated motion of
several motors.
LS-173CM is a single-axis motion controller with
integrated servo amplifier designed for applications
using Panasonic A and S series motors, standard
brushless or brush-commutated motors, and motors
with index coded commutation, up to 1 HP.
Trapezoidal brushless motor commutation is
performed. Up to 31 intelligent servo drives can be
controlled over a multi-drop full duplex RS-485
network in a distributed motion control environment.
Standard RJ-45 connectors and commercially
available cables are used for daisy chaining of the
modules.
LS-173CM is equipped with various safety features
such as short circuit protection for the motor and
amplifier, over travel limit switch inputs, hardware stop
input, over and under voltage shutdown. The
maximum motor output current can be limited by
setting of dipswitches or by software.
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 2
TECHNICAL SPECIFICATIONS rated at 25
o
C ambient, POWER (+)=60VDC, Load=250μH motor
POWER SUPPLY VOLTAGE 12 to 90 V DC, 100V Absolute Maximum
MAX MOTOR OUTPUT CURRENT
LS-173CM-1210 Peak/Continuous
LS-173CM-2010 Peak/Continuous
8A/12A
12A/20A
MAX MOTOR OUTPUT VOLTAGE V
out
= 0.96(POWER (+)) – 0.17(I
out
)
MIN LOAD INDUCTANCE
200μH
PWM SWITCHING FREQUENCY 19,512 KHz
SERVO RATE 0.512 msec
SERIAL BAUD RATE
19.2 – 115.2 Kbps
(faster communication rates are possible at lower servo rates)
OPEN COLLECTOR BRAKE OUTPUT
Max voltage applied to output
Max current load
48V
0.3A
INPUTS
Encoder & Commutation
Digital Inputs
TTL with 2K2 pull-up to 5V
LOmin=-1V, HImax=48V
ENCODER Quadrature with index
COMMUTATION Hall sensors 60/120
o
LEDS
ORANGE
GREEN
or
RED with two intensity levels
Power ‘ok’ (ORANGE and GREEN leds are ON when the Power
Servo ‘on’ is ‘OK’ and the device is not initialized)
Power ‘ok’ – low intensity / Servo ‘on’ – high intensity
PROTECTION
Short circuit
Overheating shut off
Motor output to motor output
Motor output to POWER GND
Motor output to POWER (+)
Activated at 80
o
C
FIRE-SAFETY Internal fuse
POWER DISSIPATION (max) 30W
THERMAL REQUIREMENTS
Storage temperature range
Operating temperature range
–30 to +85
o
C
0 to 45
o
C
MECHANICAL
Size
Weight
L=5.00”, H=3.30”, D=0.85”
0.55lb. (250gr.)
MATING CONNECTORS
Power & Motor
Inputs & Outputs
Encoder & Commutator
Communication
Magnum EM2565-06-VL or Phoenix MSTB 2.5/6-ST-5.08
Molex 22-01-3077 housing with 08-50-0114 pins (7 pcs.)
Molex 22-01-3107 housing with 08-50-0114 pins (10 pcs.)
8 pin RJ-45
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 3
DIMENSIONAL DRAWING
SERVO DRIVE LAYOUT
ORDERING GUIDE
PART NUMBER MODEL DESCRIPTION
912173034 LS-173CM-1210 Intelligent Servo Drive for Coordinated Motion Control 12A/8A /100V
912173035 LS-173CM-2010 Intelligent Servo Drive for Coordinated Motion Control 20A/12A /100V
230601004 LS-173-CN Mating connector kit
230601017 PAN-AS-CN Mating connector kit for Panasonic A and S series motors
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 4
CONNECTORS AND PINOUT
DIP SW – DIP SWITCH
SW SIGNAL DESCRIPTION FACTORY SETTING
1 T-out Transmit line terminator OFF
2 T-in Receive line terminator OFF
3 CL-D Current limit switch OFF
4 CL-C Current limit switch ON
5 CL-B Current limit switch ON
6 CL-A Current limit switch ON
7 Mode SW1
8 Mode SW2
SW1=ON, SW2=ON – Brush or brushless motor with single ended (non differential) encoder
SW1=OFF, SW2=ON – Brush motor with differential encoder
SW1=ON, SW2=OFF – Panasonic A or S series motor (P-mode)
SW1=OFF, SW2=OFF – Motor with index coded commutation
CN1 – POWER AND MOTOR CONNECTOR
PIN SIGNAL DESCRIPTION
1 POWER (+) 12 to 90V 12 to 90V power supply, positive terminal
2 POWER GND* Power supply ground
3 POWER GND* Power supply ground
4 MOTOR AC3 (W) or NC
Output to motor
Phase #3 terminal for brushless motors or motors with index coded
commutation
Phase W for Panasonic A and S series motors
Not connected for brush motors
5 MOTOR AC2 (V) or DC (-)
Output to motor
Phase #2 terminal for brushless motors or motors with index coded
commutation
Phase V for Panasonic A and S series motors
Negative terminal for brush motors
6 MOTOR AC1 (U) or DC (+)
Output to motor
Phase #1 terminal for brushless motors or motors with index coded
commutation
Phase U for Panasonic A and S series motors
Positive terminal for brush motors
*POWER GND and GND are electrically connected. Drive Case is isolated from Drive circuitry and can be grounded externally.
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 5
CN2 – I/O CONTROL
PIN SIGNAL DESCRIPTION
1 STP IN Stop input (disables servo amplifier)
2 GND* Signal ground
3 LIMIT 1 (REVERSE) Over travel input
4 GND* Signal ground
5 LIMIT 2 (FORWARD) Over travel input.
6 GND* Signal ground
7 BRAKE OUT Brake output. Open collector output 48V/0.3A.
CN3 – ENCODER AND COMMUTATOR
PIN SIGNAL DESCRIPTION
1 GND* Encoder ground
2 Z Encoder index
3 A Encoder phase A
4 +5V** Encoder power supply
5 B Encoder phase B
6 +5V** Commutator power supply
7
S1
-A
-A
Hall sensor input #1 for brushless motors
Encoder phase –A for DC brush motors with differential encoder or motors
with index coded commutation
Encoder phase –A for Panasonic A and S series motors
8
S2
-B
-B
Hall sensor input #2 for brushless motors
Encoder phase –B for DC brush motors with differential encoder or motors
with index coded commutation
Encoder phase –B for Panasonic A and S series motors
9
S3
-Z
+RX
Hall sensor input #3 for brushless motors
Encoder phase –Z for DC brush motors with differential encoder or motors
with index coded commutation
Hall data for Panasonic A and S series motors
10 GND* Commutator ground
CN4 – NETWORK OUT (SLAVE)
PIN SIGNAL DESCRIPTION
1 N.C. Not connected
2 GND* Interface ground
3 +TX (+) Transmit data
4 -TX (-) Transmit data
5 -RX (-) Receive data
6 +RX (+) Receive data
7 -A out (-) Address output
8 +A out (+) Address output
CN5 – NETWORK IN (HOST)
PIN SIGNAL DESCRIPTION
1 +5V** RS-232 adapter power supply
2 GND* Interface ground
3 +TX (+) Transmit data
4 -TX (-) Transmit data
5 -RX (-) Receive data
6 +RX (+) Receive data
7 -A in (-) Address input
8 +A in (+) Address input
*POWER GND and GND are electrically connected. Drive Case is isolated from Drive circuitry and can be grounded externally.
**200mA Max current for all three outputs combined.
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 6
SAMPLE APPLICATION using Brushless motor
SAMPLE APPLICATION
using Brushless motor with commutating encoder
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 7
SAMPLE APPLICATION using DC (brush) motor with single ended encoder
SAMPLE APPLICATION
using DC (brush) motor with differential encoder
Logosol AC/DC Intelligent Servo Drive for Coordinated Motion Control LS-173CM
Doc # 712173009 / Rev. E, 12/16/2005
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com 8
SAMPLE APPLICATION using Panasonic A and S series motor
SAMPLE APPLICATION using motor with index coded commutation