Logosol AC/DC Intelligent Servo Drive for Coordinated Control LS-173CMWP
Doc # 712173011 / Rev. A, 05/07/2010
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com
Features
Motors supported:
- Panasonic A and S series
- Brushless 60/120° commutated
- Brush-commutated (DC) motors
Up to 20A peak, 12A continuous output
current
12 to 90VDC power supply
Separate motor and logic power supply
terminals
Path point buffer for coordinated motion
control
30/60/120/240 Hz point rate
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
Small footprint (5” x 3.3” x 0.85”)
Description
LS-173CMWP is a version of the LS-173CM, with
separate motor and logic power supply terminals, and
replacement for LS-174WP. Motor power supply can
be switched OFF without affecting the encoder
reading and device communication. LS-173CMWP is
a single-axis motion controller with integrated servo
amplifier designed for applications using Panasonic A
and S series motors, standard brushless motors and
brush-commutated motors 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-173CMWP is equipped with various safety
features such as short circuit protection for the motor
and amplifier, over travel switch inputs, hardware stop
input, over/under voltage shutdown and encoder
presence control. The maximum motor output current
can be limited by setting of dip-switches or by
software.
Logosol AC/DC Intelligent Servo Drive for Coordinated Control LS-173CMWP
Doc # 712173011 / Rev. A, 05/07/2010
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
MOTOR PWR
LOGIC PWR
12 to 90 V DC, 100V Absolute Maximum
12 to 90 V DC, 100V Absolute Maximum
POWER CONSUMPTION (LOGOC PWR) 2.5W at 24V
MAX MOTOR OUTPUT CURRENT
LS-173CMWP-1210 Peak / Continuous
LS-173CMWP-2010 Peak / Continuous
12A/8A
20A/12A
MAX MOTOR OUTPUT VOLTAGE V
out
= 0.96(POWER (+)) – 0.17(I
out
)
MIN LOAD INDUCTANCE
200
μH
PWM SWITCHING FREQUENCY 19,512 KHz
SERVO RATE 0.512 msec
SERIAL BAUD RATE 19.2 – 115.2 Kbps
OPEN COLLECTOR BRAKE OUTPUT
Max voltage applied to output
Max current
48V
0.3A
INPUTS
Encoder & Commutation
Digital Inputs
TTL with 1K pull-up to 5V
LO min=-1V, HI max=48V
ENCODER Quadrature with index or Panasonic encoder mode
COMMUTATION Hall sensors 60/120
o
or Panasonic
INDICATORS
Orange
Green
Power ‘ok’
Servo ‘on’
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
LS-173CMWP-1210
LS-173CMWP-2010
Quick blow
10A
15A
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 MSTB2.5/6-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
(ORANGE and GREEN leds are ON when the
Power OK’ and the device is not in
i
tialized
)
Logosol AC/DC Intelligent Servo Drive for Coordinated Control LS-173CMWP
Doc # 712173011 / Rev. A, 05/07/2010
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
912173053 LS-173CMWP-1210 Intelligent Servo Drive for Coordinated Control 12A/8A /100V
912173054 LS-173CMWP-2010 Intelligent Servo Drive for Coordinated 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
230601027 PAN-ASB-CN Mating connector kit for Panasonic A and S series motors with brake
Logosol AC/DC Intelligent Servo Drive for Coordinated Control LS-173CMWP
Doc # 712173011 / Rev. A, 05/07/2010
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-output Transmit line terminator off
2 T-input Receive line terminator off
3 D Current limit switch off
4 C Current limit switch on
5 B Current limit switch on
6 A Current limit switch on
7 Mode Sw1 Mode select switch on
8 Mode Sw2 Mode select switch on
CN1 – POWER AND MOTOR CONNECTOR
PIN
SIGNAL DESCRIPTION
1 MOTOR PWR(+) 12 to 90VDC 12 to 90V motor power supply, positive terminal
2 LOGIC PWR(+) 12 to 90VDC 12 to 90V logic power supply, positive terminal
3 POWER GND
*
Power supply ground
4 MOTOR AC3 (W) or NC
Output to motor
Phase 3 terminal for brushless motors
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
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
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 Control LS-173CMWP
Doc # 712173011 / Rev. A, 05/07/2010
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 the drive)
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 input #1 for Hall mode
Encoder phase –A for DC brush motor (differential encoder)
Encoder phase –A for Panasonic A and S series motors
8
S2
-B
-B
Hall input #2 for Hall mode
Encoder phase –B for DC brush motor (differential encoder)
Encoder phase –B for Panasonic A and S series motors
9
S3
-Z
+RX
Hall input #3
Encoder phase –Z for DC brush motor (differential
encoder)
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.