Logosol LS-231SE - Page 39

Logosol Multifunctional Servo Drive LS-231SE
Doc # 712231004 / Rev. A, 05/05/2011
Logosol, Inc. • 1155 Tasman Drive • Sunnyvale, CA 94089 Tel: (408) 744-0974 • www.logosolinc.com
39
Read Status
Command value: 0x3
Number of data bytes: 1 or 2
Command byte: 0x13 or 0x23
Data bytes:
1.Status items:
Bit 0: send position (4 bytes)
1: send A/D value (1 byte)
2: send actual velocity (2 bytes – no fractional component)
3: send auxiliary status byte (1 byte)
4: send home position (4 bytes)
5: send device ID, version number (2 bytes)
(First byte - Motor controller device ID = 0,
Second byte - version number =20 to 29 (decimal))
6: send current position error (2 bytes)
7: send number of points in the path buffer (1 byte)
8: send digital inputs (2 bytes)
9: send analog inputs (2 bytes)
10, 11: reserved. Clear to 0
12: send watchdog status (2 bytes)
13: send motor position and position error (6 bytes)
14, 15: reserved. Clear to 0
Description:
This is a non-permanent version of the Define Status command. The status packet returned in response to
this command will incorporate the data bytes specified, but subsequent status packets will include only the
data bytes previously specified with the Define Status command.
Load Trajectory
Command value: 0x4
Number of data bytes: n = 1-15
Command byte: 0xn5
Data bytes:
1.Control byte:
Bit 0: load position data (n = n + 4 bytes)
1: load velocity data (n = n + 4 bytes)
2: load acceleration data (n = n + 4 bytes)
3: load PWM value (n = n + 1 or 2 bytes)*
4: servo mode - 0 = PWM mode, 1 = position servo
5: profile mode - 0 = trapezoidal profile, 1 = velocity profile
6: in velocity/PWM mode - direction flag 0 = FWD, 1 = REV
7: start motion now
PWM value can be 1 or 2 bytes. If only 1 byte is supplied, the most significant byte is set to 0.
Description:
All motion parameters are set with this command. Setting one of the first four bits in the control byte will
require additional data bytes to be sent (as indicated) in the order listed. The position data (range
*
+/-
0x7FFFFFFF) is only used as the goal position in trapezoidal profile mode. The velocity data (range
0x00000000 to 0x7FFFFFFF) is used as the goal velocity in velocity profile mode or as the maximum
velocity in trapezoidal profile mode. Velocity is given in encoder counts per servo tick, multiplied by 65536.
The acceleration data (range 0x00000000 to 0x7FFFFFFF) is used in both trapezoidal and velocity profile
mode. Acceleration is given in encoder counts per servo tick per servo tick, multiplied by 65536. The PWM
*
While the position may range from -0x7FFFFFFF to +0x7FFFFFFF, the goal position should not
differ from the current position by more then 0x7FFFFFFF.