Logosol Multifunctional Servo Drive LS-231
Doc # 712231001 / Rev. F, 12/16/2009
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com
Features
Controller modes:
- Distributed Servo
- Analog ±10V
- Quadrature Encoder mode
- Step & Direction
- Step Positive/Step Negative
Dual Encoder Loop
Servo loop rate 51.2uS
Sinusoidal motor phases commutation
Motors supported:
- Panasonic A and S series motors
- Brushless 60/120° commutated
- Linear motors
- Voice coil and Brush motors
Up to 20A peak / 12A continuous output
current
Up to 200V DC power supply
Path point buffer for coordinated motion
control
32-bit position, velocity, acceleration,
16-bit PID filter gain values
Torque loop
Safety Bus
Feedback loss protection
Comprehensive motor output short-circuit
protection:
- Output to output
- Output to ground
Adjustable motor current and overload time
limits
Over/under voltage shutdown
Overheating protection
Forward and reverse over travel inputs
Communication 19.2Kb/S to 1.25Mb/S
PWM frequency 20 kHz
Encoder rate 10.0MHz
Description
LS-231 is all digital multifunctional single-axis servo
controller with integrated power amplifier designed
for applications requiring sinusoidal control of Rotary
or Linear brushless motors up to 1.5 HP. DC (brush)
and Voice coil motors are also supported.
In LDCN mode the drive 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
control. Analog modes give flexible use of Analog,
Enable and Direction inputs.
Three modes are provided in addition to the
standard Step & Direction mode. In Step
Positive/Step Negative mode the direction is
controlled via two separate step inputs. In
Quadrature encoder modes step and direction
inputs can be connected to A and B phase of an
incremental encoder.
Dual-Loop encoder mode supports two encoder
inputs. In this mode the encoders for position and
servo control are separated. High resolution
encoders can be used for precise position control.
LS-231 is equipped with various safety features
such as short circuit protection for the motor and the
drive, limit switch inputs, over/under voltage
shutdown and encoder presence control. Safety bus
can be connected for multi-drive system protection.
The maximum motor output current and overload
time can be set.
Logosol Multifunctional Servo Drive LS-231
Doc # 712231001 / Rev. F, 12/16/2009
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
LS-231-1220
LS-231-1210
LS-231-2010
LS-231SE-2020
18 to 180Vdc, 200V Absolute Maximum
18 to 90Vdc, 100V Absolute Maximum
18 to 90Vdc, 100V Absolute Maximum
18 to 180Vdc, 200V Absolute Maximum
+24V 18Vdc to 36Vdc I/O power supply
+24V Backup Current 0.25A Maximum
MAX MOTOR OUTPUT CURRENT
Peak
LS-231-1220, LS-231-1210
LS-231-2010, LS-231SE-2020
Continuous
LS-231-1220, LS-231-1210
LS-231-2010, LS-231SE-2020
12A
20A
8A
12A
MIN LOAD INDUCTANCE
200μH
PWM SWITCHING FREQUENCY 19.5KHz
SERVO RATE 51.2 uSec
SERIAL BAUD RATE 19.2Kb/Sec to 1.25 Mb/Sec
DIGITAL OUTPUTS
Source driver
Brake/Output1 (CN1pin4)
Pull-Up (CN2pin1, CN5pin6, CN9pin8)
Output2 (CN2pin3)
Fault (CN8pin9)
24V (18Vdc to 36Vdc Maximum). Short protection. Output clamp diode.
0.3A
0.1A for all outputs combined
0.2A
HImin=4V, LOmax=0.4V Iout=4mA
RELAY OUTPUTS
LIMIT, FAULT
Relay contact
ANALOG OUTPUT
DACout
0 to +5V/1mA
DIGITAL INPUTS
+A, -A, +B, -B, +Z, -Z, +Rx/H1, -Rx/H2
Limit1, Limit2, HomeIN, Input9, Enable,
Input10
Dir, AEN, Step (CN8pin7, pin12, pin13)
HI=3.5V, LO=1.5V, 2K2 pull-up resistors
LOmin=-0.5V<LO< 6.5V; 15V<HI<HImax=36V;Imax=8mA
HI=3.5V, LO=1.5V, 4K7 pull-down resistors
ANALOG INPUT
ADCin
±10V, 10K to Gnd
ENCODER
Quadrature with index.
Encoder rate 10MHz max (5MHz max Enc Filter=ON)
Panasonic encoder mode.
HALL SENSORS 60/120
o
or Panasonic
LEDs
ORANGE, GREEN, RED
Refer to LS-231 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 DESSIPATION (max)
LS-231-1220
LS-231-1210, LS-231-2010, LS-231SE-2020
75W
45W
THERMAL REQUIREMENTS
Storage temperature range
Operating temperature range
–30 to +85
o
C
0 to 45
o
C
MECHANICAL
Size
Weight
6.5” x 4.0” x 0.85”
0.8 lb. (0.36 kg)
+5V SOURCE
Max output current
200mA for all output pins combined
MATING CONNECTORS
MOTOR AND POWER
I/O
SAFETY BUS
CN9
ENCODER AND COMUTATOR
CN8
NETWORK (HOST, SLAVE)
RECOMMENDED CONNECTOR TYPE
EM2565-08-H Terminal Block 8 Poles 5.08mm
Molex 22-01-3047 housing with 08-50-0114 pins (4 pcs.)
Molex 22-01-3047 housing (2 pcs.) with 08-50-0114 pins (8 pcs.)
Molex 22-01-3087 housing with 08-50-0114 pins (8 pcs.)
AMP 205206-3 D-Shape 15 Pin M Crimp Housing with AMP 5-66507-7(15 pcs.)
3M 34526600 Socket16 pin, polarized 0.1"
8 pin RJ-45
Logosol Multifunctional Servo Drive LS-231
Doc # 712231001 / Rev. F, 12/16/2009
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
912231001 LS-231-1210
Multifunctional servo drive 12A/90V
912231002 LS-231-2010
Multifunctional servo drive 20A/90V
912231003 LS-231-1220
Multifunctional servo drive 12A/180V
912231010 LS-231SE-2020
Multifunctional servo drive 20A/180V
230601051 LS-231-CN
Mating connector kit for LS-231
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
922231100 LS-2311
Dual-loop master encoder interface
Logosol Multifunctional Servo Drive LS-231
Doc # 712231001 / Rev. F, 12/16/2009
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com
4
CONECTORS AND PINOUT
DIP SWITCHES
SW NAME DESCRIPTION
1 Terminator Tx Transmit line terminator
2 Terminator Rx Receive line terminator
3 Reserved Reserved must be off
4 Reserved Reserved must be off
5 Sw5
6 Sw6
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=OFF, Sw5=OFF - Reserved
CONNECTORS
CN1 – POWER AND MOTOR
PIN SIGNAL DESCRIPTION
1 +POWER 18Vdc TO 90Vdc Power supply positive terminal
2 +24V 18Vdc TO 36Vdc I/O power supply
3 POWER Gnd Power supply ground
4 Brake/Output1 Brake output
5 Gnd I/O ground
6 MOTOR AC3 (W)
Output to motor
Phase 3 terminal for brushless motors
Phase W for Panasonic A and S series motors
Negative terminal for DC and Voice Coil motors
7 MOTOR AC2 (V)
Output to motor
Phase 2 terminal for brushless motors
Phase V for Panasonic A and S series motors
Positive terminal for DC and Voice Coil motors
8 MOTOR AC1 (U)
Output to motor
Phase 1 terminal for brushless motors
Phase U for Panasonic A and S series motors
Not connected for DC and Voice Coil motors
Logosol Multifunctional Servo Drive LS-231
Doc # 712231001 / Rev. F, 12/16/2009
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com
5
CN2 – I/O
PIN SIGNAL DESCRIPTION
1 Pull-Up Protected power output (+24V)
2 Input10 Genera purpose input
3 Output2 General purpose output
4 Gnd Signal ground
SAFETY BUS
CN3
PIN SIGNAL DESCRIPTION
1 LIMIT Limit relay contact (CN3)
2 Input9 Limit input
3 FAULT Fault relay contact (CN3)
4 Enable Drive Enable/Stop input
CN4
PIN SIGNAL DESCRIPTION
1 LIMIT Limit relay contact (CN4)
2 Input9 Limit input
3 FAULT Fault relay contact (CN4)
4 Enable Drive Enable/Stop input
CN5 – ENCODER AND COMMUTATOR
PIN SIGNAL DESCRIPTION
1 -Rx/H2
Hall input #2 for brushless motors
Hall data for Panasonic A or S series motors
Not connected for DC motors
2 Enc 5V Encoder +5V power supply
3 -Z/H3
Hall input #3 for brushless motors
Encoder index (-)Z for Panasonic A or S series motors and DC motors with differential
encoder
4 -B/NA Encoder phase (-)B for motors for motors with differential encoder
5 -A/NA Encoder phase (-)A for motors for motors with differential encoder
6 Pull-Up Protected power output (+24V)
7 Limit1 Limit1 input (connected to CN9-4 through 1K resistor)
8 Gnd Signal ground
9 +Rx/H1
Hall input #1 for brushless motors
Hall data for Panasonic A or S series motors
Not connected for DC motors
10 Gnd Encoder ground
11 +Z Encoder index Z
12 +B Encoder phase B
13 +A Encoder phase A
14 Home Home input (connected to CN9-6 through 1K resistor)
15 Limit2 Limit2 input (connected to CN9-2 through 1K resistor)
CN6 –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
CN7 –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
Logosol Multifunctional Servo Drive LS-231
Doc # 712231001 / Rev. F, 12/16/2009
Logosol, Inc. 1155 Tasman Drive Sunnyvale, CA 94089 Tel: (408) 744-0974 www.logosolinc.com
6
CN8
PIN SIGNAL DESCRIPTION
1 -A Encoder phase (-) A output. Wired to CN5pin5
2 +A Encoder phase A output. Wired to CN5pin13
3 -B Encoder phase (-) B output. Wired to CN5pin4
4 +B Encoder phase B output. Wired to CN5pin12
5 -Z Encoder phase (-) Z output
6 +Z Encoder phase Z output. Wired to CN5pin11
7 Dir
LDCN Single and Dual-loop modes – NA
Analog input Single/Dual-loop mode – NA
Analog input mode with direction invert input – Direction input
Enable Positive/Enable Negative Analog input mode – Enable + Direction input
Step & Direction mode – Direction input
Step Positive/Step Negative mode – Negative Step input
Quadrature encoder mode – Counter A input
8 Gnd Signal ground
9 Fault Fault output
10 Gnd Signal ground
11 +5V +5V power supply
12 AEN
LDCN Single loop mode – NA
LDCN Dual-loop mode – Secondary 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 to +5V
CN9
PIN SIGNAL DESCRIPTION
1 Gnd Signal ground
2 Limit2 Limit2 (connected to CN5-15 through 1K resistor)
3 Gnd Signal ground
4 Limit1 Limit1 (connected to CN5-7 through 1K resistor)
5 Gnd Signal ground
6 Home Home (connected to CN5-14 through 1K resistor)
7 Bridge Bridge request input (mode dependent function)
8 Pull-Up Protected power output (+24V)