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SMAC Moving Coil Actuators
Single Axis Controller/Amplifier

Single Axis Controller/Amplifier

Product catalog summary

Specifications and Features:
The LAC-15 is a single-axis controller/amplifier for DC brush and brushless motors, featuring a PID control algorithm and operating at a DSP speed of 40 MHz. It supports position, velocity, torque, and open-loop control modes, with a nominal PWM frequency of 20 KHz. The device requires a power supply of 12-48 VDC, handling a peak current of 6 A and a continuous current of 3 A. Integrated protections include over-voltage, over-current, under-voltage, and over-temperature safeguards.

Outline and Pin Layout:
The compact LAC-15 measures 198 mm x 96 mm x 61 mm and includes connectors for user I/O, RS232 & CAN communication, servo encoder interface, and power interface. Detailed pin layouts specify functions such as digital I/O, analog inputs, and encoder connections.

Digital and Analog Interfaces:
The controller offers 4 general-purpose digital inputs and outputs, along with dedicated inputs and outputs for each axis. It includes 2 analog inputs with a 10-bit resolution, supporting a range of ±10V.

Motor and Encoder Connections:
Instructions for connecting DC brush and brushless motors are provided, emphasizing correct application programming to prevent damage. The differential encoder connection supports two channels with an index signal input.

Power Supply and Communication:
The power supply connection supports 12 to 48 VDC, with a maximum of 50VDC. The RS232 interface allows communication with a host computer, supporting baud rates from 9600 to 115,200 bps. The CAN interface complies with CAN-Bus 2.0B standards, supporting speeds up to 1 Mbit/s.

Memory and Programming:
The LAC-15 includes internal SRAM and external E²ROM for program and data storage. Programming is facilitated through EasyMotion Studio, which provides a graphical environment for configuration, parameterization, and motion sequence programming, supporting various Windows operating systems.

Installation and Setup:
Instructions for installing EasyMotion Studio include steps for verifying installation and establishing communication between the LAC-15 and a PC. The setup process involves creating a new project, configuring motor and drive parameters, and testing connections.

Conclusion:
The LAC-15 is a versatile and compact solution for single-axis motor control, suitable for medium to high-volume applications, offering extensive interfacing options and robust programming capabilities through EasyMotion Studio.

Motor and Encoder Setup:
Users can select motors from a database or modify existing actuator data. Encoder data entry requires adjustments based on the actuator's encoder resolution, with a table provided for encoder resolution and corresponding lines per mm. Users can test encoder connections to ensure signal presence.

Drive Setup:
After motor and encoder setup, users configure drive parameters, selecting control modes (Position, Speed, Torque) and setting operation parameters like power supply and current limits. Correct data is emphasized to avoid motor damage.

Control Setup and Tuning:
For each control mode (Current, Speed, Position), the manual provides steps for tuning and testing, setting parameters like proportional gain (Kp) and integral term (Ki). Tests are conducted 'hot', applying power to the motor, with results validated visually through graphs.

Protections and Inputs:
Users must set protection values and input polarities for safe operation, with details on setting axis IDs and downloading setup data to the drive/motor EEPROM.

Summary:
The manual outlines methods to define or change setup data, including creating new data, using saved data, or uploading from EEPROM.

Technosoft Motion Language (TML):
TML is a high-level language for setting up drives and programming motion sequences, allowing for setting various motion modes such as profile, electronic gearing, and camming. It supports on-the-fly changes to motion modes and parameters, execution of homing sequences, and control of program flow through conditional jumps, interrupts, and event waits.

TML Program Structure:
A TML program consists of two main parts: the setup part and the motion programming part. The setup part involves declaration and assignment instructions to configure TML registers and parameters. Once the ENDINIT command is executed, basic configurations cannot be changed without a reset. The motion programming part follows the ENDINIT instruction and continues until the END instruction, which stops the program execution.

Interrupts and Functions:
The document includes an interrupt vectors table and describes the structure of interrupt service routines (ISRs) and functions within a TML program. Each ISR and function has a specific structure, starting with a label and ending with a return instruction.

EasyMotion Studio:
EasyMotion Studio features a Motion Wizard that simplifies the programming of motion sequences through graphical dialogues. It automatically generates TML command instructions, allowing users to create motion programs without extensive knowledge of TML. The Motion Wizard provides motion programs as sets of motion objects, which are compiled and downloaded to the drive for execution.

Evaluation Tools:
EasyMotion Studio includes evaluation tools such as the Data Logger, Control Panel, and Command Interpreter to assist in measuring and analyzing motion applications. Users are encouraged to refer to the online help for detailed information on these tools.

Catalog excerpts

LAC-15 Single Axis Controller/Amplifier User Manual Version A

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 3 LAC-15 Specification and Features: Number of Motion Axis 1 Control Algorithm PID Speed of DSP Controller 40 MHz, 40 MIPS Motor Control DC Brush, DC Brushless Operation Mode Stand along, Slave – in multi-axis Control Mode Position, Velocity, Torque, Open Loop Nominal PWM Frequency 20 KHz Main Power Supply 12 – 48 VDC Peak Current 6 A Continuous Current 3 A Logic Supply: 5 VDC, 600 mA Encoder Supply 5 VDC Encoder and Index Input Single Ended or Differential Encoder Count Rate 6.7 MHz Max. Position Range 32 bits Velocity Range 16 bits integer...

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 4 Outline Drawing: SMAC LAC-15, the new 1-axis motion controller-drive is engineered with a Technosoft ISM4803 high-performance intelligent servo module, which is combining motion controller and drive functionalities into a single compact unit. The LAC-15 ISM module is a flexible, cost effective and compact solution, particularly adapted for distributed and coordinated control of brushless, DC, linear or step motors of powers up to 150W, with voltages up to 48V. Typical applications include distributed motor control with possibilities of gearing...

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 6 Digital I/O Interface The LAC-15 provides total 4 general purpose inputs and 4 general purpose output. In addition, each axis has 3 dedicated inputs, Enable, Limit+ and Limit-, and 2 dedicated outputs, Ready, and Error. All inputs and outputs are compatible with TTL signal level and maximum current on outputs is 24 mA each.

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 7 Analog Inputs The LAC-15 provides total 2 analog inputs with 10 bits resolution on A/D conversion; two analog inputs are REF and FDBK. The analog input range is +/- 10V that reference to GND. The input REF can be used as analog position, speed reference, and torque reference. The input FDBK can be used as tacho meter feedback.

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 8 DC Brush and Brushless Motor connection CAUTIO': Before connecting the motor, be sure you have the right application programmed to E²ROM otherwise you can damage the motor and drive. At Power-on the TML application is automatically executed. See special instruction on how to disable this auto run feature.

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 9 Differential Encoder Connection The LAC-15 provides 2 channels (A and B) of quadrature encoder interface with index signal input. +5VDC requires minimum of 50mA.

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 10 Power Supply Connection The LAC-15 has wide range of Motor Power (Vmot) input between 12 to 48 V DC. The maximum supply Voltage is 50VDC.

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 11 Serial RS232 Interface connection The LAC-15 provides a serial RS232 communication interface, one independent RS232 port. LAC-15 communicates with a host computer via RS232 port. The RS232 port has compliance with standard of TIA/EIA-232-C. The baud rate can be set between 9600 to 115,200 bits per second.

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 12 CA' Connection The LAC-15 provides one port of CAN communication interface.. LAC-15 CAN ports have compliance with standards CAN-Bus 2.0B; ISO11898-2. The speed of CAN bus can be up to 1M bits per second. Two and more LAC-15 can be linked in chain to form CAN network. Terminator resistor of 120 ohm is needed to install into the network at last node axis. In the multiple-axis CAN network, the aixsID must be set to each axis node. The first axis (axis-1) node should set the axisID as 255. The second axis (axis-2) can be assigned axisID between...

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 13 Available Memory Area The LAC-15, the single axis controller driver, has two types of memory: a 1.5Kx16 SRAM (internal) memory and an 8Kx16 serial E²ROM (external) memory. The SRAM memory is mapped both in the program space (from 8200H to 87FFH) and in the data space (from A00H to FFFH). The data memory can be used for real-time data acquisition and to temporarily saved variables during a TML program execution. The program space can be used to download and execute TML programs. It is the user’s choice to decide how to split the 1.5-K SRAM...

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 14 Programming Easy Motion Studio Easy Motion Studio provides high level graphical development environment. It supports the configuration, parameterization and programming of the drive through œ Motion system set-up wizard œ Tuning assistance œ Definition, programming and testing of motion sequences. What You will 'eed: œ Host computer: An IBM PC, AT or compatible, with hard disk, CD-ROMM drive, NGA or SVGA monitor, running under Windows (version 95, or 98, Millennium, or NT4.0, or 2000, or XP). Windows ME is not supported œ Power requirements:...

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 15 Verifying the Installation: œ Connecting the communication cable to PC and LAC-15 œ Powering up the drive œ Starting EasyMotion Studio by using the Windows “Start | Programs | EasyMotion Studio | EasyMotion Studio” menu command œ If the communication works properly you will see displayed on the status bar (the bottom line) of the EasMotion Studio, “Online”, the axis ID of the drive, and the firmware version. œ If the LAC-15 is not detected, the “offline” message is displayed on the status bar. First, checking the serial cable and, power...

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LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 16 On-line Help Now, the communication connection between LAC-15 controller and your PC has been established. For the first time using EasyMotion Studio, it is recommended that you first read the “Getting Started” that included in the on-line help. With menu command “Help | Getting Started”, you will see the different tutorial lessons that are also available. Project Set-up: After launching EasyMotion Studio, an empty window is created in where you can create a new project or open a previous created project. Press New button to open a “New...

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Single Axis Controller/Amplifier

Single Axis Controller/Amplifier

Catalog excerpts

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