SMAC LAC-15 Manual de usuario
LAC-15
Single Axis Controller/Amplifier
User Manual
Version A
LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 2
Contents
LAC-15 Specification and Features ............................................................................................................ 3
Outline Drawing .......................................................................................................................................... 4
LAC-15 Pin Layout ..................................................................................................................................... 5
Digital I/O Interface ..................................................................................................................................... 6
Analog Inputs .............................................................................................................................................. 7
DC Brush and Brushless Motor connection................................................................................................ 8
Differential Encoder Connection.................................................................................................................. 9
Power Supply Connection......................................................................................................................... 10
Serial RS232 Interface connection.............................................................................................................. 11
CAN Connection ....................................................................................................................................... 12
Available Memory Area ............................................................................................................................ 13
Programming .............................................................................................................................................. 14
What You will Need ................................................................................................................. 14
Installing the EasyM otion Studio Software .............................................................................. 14
Project Set-up ........................................................................................................................... 16
Motor Setup.............................................................................................................................. 18
Encoder data entry ................................................................................................................... 19
Drive Setup ............................................................................................................................... 20
Program Motion ........................................................................................................................ 31
EasyM otion Studio includes a Motion Wizard. ....................................................................... 33
Sample M otion Program .......................................................................................................... 35
LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 3
LAC-15 Specification and Features:
Number of M otion Axis 1
Control Algorithm PID
Speed of DSP Controller 40 M Hz, 40 M IPS
Motor Control DC Brush, DC Brushless
Operation M ode Stand along, Slave – in multi-axis
Control M ode 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 M Hz M ax.
Position Range 32 bits
Velocity Range 16 bits integer part, 16 bits fractional part
Acceleration Range 16 bits integer part, 16 bit fractional part
Feedback Signal Incremental encoder, Index, Hall, Current, speed
estimated from position, DC bus voltage
General Digital Input 4, TTL
General Digital Output 4, TTL
Dedicated Digital Input 6, TTL
Dedicated Digital Output 2, TTL
Analog Input 2, with 10 bit resolution and ±10V
Programming platform EasyM otion Studio
Internal M emory 1.5K x 16 SRAM
External Memory 8K x 16 serial E²ROM
Communication Interface
1 Port
RS232 up to 115200 bps
CAN bus 2.0B up to 1M bit/s
Integrated Protections Over Voltage, Over Current, Under Voltage, Over
Temperature, I²t
Operation Ambient
Temperature
0 – 40 °C
Dimension 198 mm x 96 mm x 61 mm
LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 4
utline 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 and electronic CAM functions in a CAN network
operation. Targeted for medium to high volume applications, the ISM hardware
structure is based on a cost optimized design integrating all the basic motor control
functions on one double-sided card format. A series of I/O signals, both digital and
analogue, are available for easy interfacing with the application. A complete set of
high-level Technosoft Motion Language (TML) instructions permit to define and start
complex motion sequences from your host, PC, or to execute pre-stored motion
sequences selected from I/O lines, in a stand-alone mode.
The embedded Intelligence of the ISM facilitates the configuration and programming
of the module through a high level graphical interface as the EasyMotion Studio.
LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 5
LAC-15 Pin Layout
J1 – User I/O Interface Connector
High Density DB-26, Fema e
1. Aixs-1, OUT_0
2. NC
3. Axis-1, IN_1
4. NC
5. Axis-1, OUT_3
6. NC
7. Axis-1, FDBK
8. NC
9. NC
10. Axis-1, ENABLE
11. Axis-1, IN_0
12. NC
13. Axis-1, OUT_2
14. NC
15. Axis-1, IN-3
16. NC
17. NC
18. NC
19. 5 VDC
20. GND
21. Axis-1, OUT_1
22. NC
23. Axis-1, IN_2
24. NC
25. Axis-1, REF
26. NC
J2 – RS232 & CAN Communication
Interface
6 pin Phone Modu e
1. CAN-L
2. CAN-H
3. Rx, Receive Data
4. Tx, Transmit Date
5. GND
6. NC
J4 – Serv o Encoder Interface Connector
High Density DB-26, Fema e
1. NC
2. NC
3. NC
4. 5 VDC
5. 5 VDC
6. NC
7. NC
8. Axis-1, Encoder B-
9. Axis-1, Encoder B
10. NC
11. NC
12. NC
13. GND
14. GND
15. NC
16. NC
17. Axis-1, Encoder A-
18. Axis-1, Encoder A
19. NC
20. NC
21. GND
22. GND.
23. NC
24. NC
25. Axis-1, Encoder Index-
26. Axis-1, Encoder Index
J5 – Pow er Interface
5 Pin 5.08mm Center Phoenix
1. Axis-1, W
2. Axis-1, Motor- / V
3. Axis-1, Motor / U
4. Main Power, 24V
5. Main Power, Return
Pin 1
Pin 1
J1
Pin 1
Axis
-
1
Pin 1
J4
J5
J2
LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 6
Digital I/ 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.
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.
LAC-15, 1Axis Controller/Amplifier User Manual Ver.A 8
DC Brush and Brushless Motor connection
CAUTI ':
Before connecting the motor, be sure you have the
right application programmed to E²R M 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.
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.
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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