Logosol LS-221-BL Use and care manual

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LO
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OG
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GO
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OS
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Two-Axis Sinusoidal Brushless
Servo Controller With Built-In
Power Amplifiers
LS-221-BL
Technical Reference
Document No 710220125 / Rev. 1.1 - April, 1999

The information in this data book has been carefully checked and is believed to be reliable,
however, no responsibility can be assumed for inaccuracies. All information in this manual is
subject to change without notice and does not represent a commitment on the part of the
vendor.
FlexWare

is trademark of Logosol, Inc.
Trademarks are used throughout the manual only as reference to existing common products. If
a registered trademark is used without being indicated as such, this does not imply that the
name is free.
© Copyright Logosol, Inc. 1991 - 1999.
All rights reserved. No part of this publication may be reproduced, photocopied, stored on
retrieval system, or transmitted without the express written consent of the publisher.
LS-221-BL Technical Reference
Document No 7102201125 / Rev. 1.1 - April, 1999
Logosol, Inc.
1155 Tasman Drive, Sunnyvale, CA 94089
Tel: [phone]
Fax: [phone]
Http://www.logosolinc.com

Contents
1. OVERVIEW............................................................................................................................................2
2. REQUIREMENTS...................................................................................................................................4
3. INSTALLATION......................................................................................................................................5
4. BOARD DESCRIPTION..........................................................................................................................6
4.1. Memory Map ....................................................................................................................................8
4.2. Base Module.....................................................................................................................................8
4.2.1. Servo Channels..........................................................................................................................9
4.2.2. Built-in Power Amplifiers...........................................................................................................10
4.2.3. Digital Outputs and Outbound Power........................................................................................12
4.2.4. Servo Control and Diagnostic...................................................................................................14
4.2.4.1. Motion Processor Reset......................................................................................................14
4.2.4.2. Servo Loop.........................................................................................................................14
4.2.4.3. Amplifiers Current Control...................................................................................................17
4.2.4.4. Interrupt Processing............................................................................................................17
4.2.5. Board Identifier.........................................................................................................................18
4.2.6. Interface Connectors ................................................................................................................18
4.2.6.1. CN3 Connector (External Power)........................................................................................20
4.2.6.2. CN2 Connector (Outputs & Outbound Power).....................................................................21
4.3. Input Board.....................................................................................................................................22
4.3.1. Digital Optoisolated Inputs........................................................................................................24
4.3.1.1. General Purpose Inputs ......................................................................................................24
4.3.1.2. Hall-sensor Inputs...............................................................................................................26
4.3.1.3. High Speed Position Capture Inputs....................................................................................26
4.3.1.4. Emergency Stop Inputs (optional).......................................................................................27
4.3.2. Incremental Encoder Interface..................................................................................................27
4.3.3. Multi-turn Absolute Encoder Receiver.......................................................................................28
4.4. Interface Wiring..............................................................................................................................30
4.5. Power Supply .................................................................................................................................31
5. BOARD SETUP....................................................................................................................................32
5.1. Base I/O Address............................................................................................................................32
5.2. Interrupt Line..................................................................................................................................32
5.3. Current Limit Mode.........................................................................................................................33
5.4. Servo Off Mode..............................................................................................................................33
6. APPLICATION NOTES.........................................................................................................................34
7. BASIC CONTROL PROCEDURES.......................................................................................................35
7.1. Board identification.........................................................................................................................35
7.2.Board Initialization and Power On ...............................................................................................36
7.3. Enable Amplifiers ...........................................................................................................................37
7.4. Disable amplifier.............................................................................................................................38
7.5. Diagnostic – Finding Out the Reason Caused Amplifier Disable......................................................39

LS-221-BL Technical Reference
Doc. #710220125
2
1. OVERVIEW
Logosol LS-221-BL is a precision highly integrated 2-axis digital servo controller with built-in
power amplifiers. LS-221-BL is specially designed to control 3-phase brushless motors with
integrated Hall-sensors and quadrature incremental encoders. The unique
FlexWare™
design
allows flexible wiring and assignment of all inputs and outputs to meet specific requirements.
FEATURES
•
2-axis
•
Modular design
•
ISA bus plug-in board
•
DSP technology. PMD MC1231A based
•
Sinusoidal commutation
•
S-curve profile
•
Programmable output current limit/shut down
•
Quadrature incremental encoder interface (encoder power supply provided)
•
Multi-turn absolute position encoder interface (power and backup supply provided)
•
Additional general purpose optoisolated inputs and outputs
•
Flexible wiring
•
Emergency stop input
TECHNICAL SPECIFICATIONS
Motion Control
Output
commutation waveform sinusoidal
PWM phases 3 per axis
PWM resolution 10 bit @ 25KHz
min load inductance 200µH
typical motor power supply voltage range 24÷80 VDC
undervoltage shutdown 18 VDC
overvoltage shutdown 100 VDC
max continuous current per channel 8.5A
max short term current per channel (t < 10 sec) 10A
max continuous current per board 16A
programmable current limit for each channel 2-10A
Encodertype incremental A, B, Z
max pulse frequency 1 MHz
optoisolated encoder inputs 5V/20mA
Hall-sensors
type 120 degrees
optoisolated Hall-sensor inputs 5V/20mA
Digital I/O lines
16 general-purpose optoisolated digital inputs 24V/10mA
6 of the inputs may serve as high speed position capture strobes
8 open collector outputs with short circuit protection
max output voltage 48V

LS-221-BL Technical Reference
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3
max current per output 1A
max current per board 5A
3 relay controlled 24 V power supplies
relay type OMRON G6B
max current 5A/30V DC
contact resistance 30mΩ
mechanical contact reliability 20 x 106
Power Requirements
computer power supply +5V ±5% / 1A
+12V ±5% /1A
external operating power 24V DC ±20%
external motor power 24÷80V DC

LS-221-BL Technical Reference
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4
2. REQUIREMENTS
Logosol LS-221-BL is a plug-in board for a standard ISA bus system. To operate LS-221-BL, the
following requirements must be fulfilled.
•
ISA bus system.
•
One free 8-bit or 16-bit bus slot. LS-221-BL itself requires space for two single PC-boards,
though only one bus slot connector is occupied
•
A minimum of 512 Kbytes conventional RAM installed
•
A free I/O address range x280
÷
x28F or x2A0
÷
x2AF, where x may be 0, 1, 2, 3
•
Power supply: +5V
±
5% / 1A, +12V
±
5% /1A
•
An external operating power: 24V DC
±
20%
•
An external motor power in the range: 24
÷
80V DC (see note)
Note: Motor power supply
must
be electrically isolated
from computer ground and from operating power
supply (floating power supply).
•
A fan is required when driving high power motors (greater than 48V@3A)

LS-221-BL Technical Reference
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5
3. INSTALLATION
Note
: LOGOSOL assumes no responsibility for any damage
occurred to your system or your health, due to improper
installation. LS-221-BL is a professional industry application
product and is designed to be operated by electronic engineers
only. Installation of any hardware in your system requires you to
be familiar with the service and maintenance of the personal
computer.
Ask a computer service engineer to assist you if you are
not familiar with electronics.
Installation Checklist
•
Disconnect the power from target system. Never touch the electronics while the power is
on. This protects you and your electronics.
•
Touch the ground. Touch electrical ground to eventually unload your body from static
electricity.
•
Setup the board. Select the I/O address with J1 jumper block. Optionally select IRQ line with
J2 jumper block. Setup Servo off Mode (J4) and Current Limit Mode (J3).
•
Plug in the main power connector CN3. Check power supply – motor power (24
÷
80V) and
operating power (24V). Make sure the emergency stop contact between pins 7 & 8 of CN3
connector is closed.
•
Install the board. Plug in LS-221-BL into a free bus slot. Any slot may be used.
•
Screw the Board. Fix LS-221-BL with a screw to the chassis. Never switch on the power
without LS-221-BL being fixed to the chassis. The board might have tilted within the slot and
shortcut the bus with unpredictable results.
•
Test the installation. Switch on your system and check whether the board does not influence
the normal computer operation. Switch on the LS-221-BL external power supply. Run the
application software.

LS-221-BL Technical Reference
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6
4. BOARD DESCRIPTION
Logosol LS-221-BL is highly integrated 2-axis digital servo controller with built-in power
amplifiers designed to control 3-phase brushless motors with integrated Hall-sensors and
quadrature incremental encoders. It is intended for high precision and high reliability industrial
applications. The board is designed as a plug-in board for PC/AT compatible computers with
ISA bus. The unique
FlexWare™
design allows flexible wiring and pin assignment to meet
specific requirements and to achieve compatibility with an existing hardware. To attain a high
reliability of operation in industrial environments, all inputs and outputs are optoisolated from
the computer ground. LS-221-BL is an assembly of a mother-board called Base Module (BM), a
plug-in board that caries all input circuits - Input Board (IB), and Interface Wiring (IW) to
connect BM and IB to LS-221-BL front panel connector.
#1
XC95108
b319
#2
XC9536
b321
BASE
MODULE
+
+
=
INTERFACE
WIRING
INPUT
BOARD
LS-221-BL
9729100b
Figure 1: LS-221-BL main components
To deliver a maximum performance and flexibility LS-221-BL is designed using the latest
technologies. The onboard 25MHz PMD MC1231A DSP processor guaranties precise and
smooth motion control and saves the host computer’s time. All input, output and control signals

LS-221-BL Technical Reference
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7
are processed by ISP (In-System Programmable) chipset to allow fast and easy user-defined
customizations.
LS-221-BL controller is equipped with various hardware safety features - emergency stop
input, output overload protection, amplifier overcurrent protection, undervoltage and short
circuit protection. A dedicated diagnostic logic allows to identify the reason for breaking of the
servo loop (amplifier disable).
9729105b
Figure 2: LS-221-BL block diagram

LS-221-BL Technical Reference
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8
4.1. Memory Map
LS-221-BL is designed as a standard ISA bus peripheral device. To save I/O space, LS-221-
BL uses only 16 bytes from the lowest 1024 I/O addresses range. The rest of LS-221-BL
registers occupy the space located at offset 0x400, 0x800 and 0xC00. For instance, if LS-221-
BL base address is set to 0x280, the following I/O address are in use – 0x280
÷
0x28F,
0x680
÷
0x68F, 0xA80
÷
0xA8F, 0xE80
÷
0xE8F. Eight base addresses are available, depending on
J1 setting – 0x280, 0x1280, 0x2280, 0x3280, 0x2A0, 0x12A0, 0x22A0, 0x32A0. The table below
shows LS-221-BL register location relatively to controller base address. The offsets are in
hexadecimal.
READ WRITE
D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 D5 D4 D3 D2 D1 D0
0 MC1231A DATA REGISTER 0 MC1231A DATA REGISTER 0
1READY 1 MC1231A COMMAND REGISTER 1
222
333
444
555
666
777
8 IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0 8 8
9 IN15 IN14 IN13 IN12 IN11 IN10 IN9 IN8 9 9
A AE RST OPT SPS CL1 CL0 A AE RST OPT SPS A
B EMG STP MPF OPF EMGL STPL MPFL OPFL B B
CADI MPI CENADI C
D OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 D OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 D
EE PCS3 PCS2 PCS1 PCS0 APERES E
F F F
400 400 400
401 401 401
402 402 402
403 403 403
404 APE D7 APE D6 APE D5 APE D4 APE D3 APE D2 APE D1 APE D0 404 REQ APE#0 404
405 APE D15 APE D14 APE D13 APE D12 APE D11 APE D10 APE D9 APE D8 405 REQ APE#1 405
406 APE D23 APE D22 APE D21 APE D20 APE D19 APE D18 APE D17 APE D16 406 406
407 APE RDY BE OF OS BA PS CE 407 407
408 408 CURRENT LIMIT #0 (0x0 - 0xF) 408
409 409 CURRENT LIMIT #1 (0x0 - 0xF) 409
40A 40A 40A
40B 40B 40B
40C 40C 40C
40D 40D 40D
40E 40E 40E
40F 40F 40F
807 ID3 = 0 ID2 = 0 ID1 = 0 ID0 = 1 807 807
C07 ID7 = 1 ID6 = 0 ID5 = 1 ID4 = 1 C07 C07
Table 1: LS-221-BL Memory Map
4.2. Base Module
The main part of LS-221-BL servo controller is the Base Module (BM). It carries the motion
control processor, PWM power amplifiers, optoisolated digital outputs, and servo control and
diagnostic logic. It can be combined with various input boards to create the optimal solution for
wide range of motion control tasks. The following diagram shows the layout of the Base Module.

LS-221-BL Technical Reference
Doc. #710220125
9
F2 FUSE
(MOTOR POW ER)
CN3 CONNECTOR
(EXT. POWER & EM. STOP)
F1 FUSE
(OPERATING POWER)
J4 JUMPER
(SERVO OFF MODE)
L2 (OPERATING POWER OK)
CN2 (OUTPUTS AND
OUTBOUND POWER)
L1 (MOTOR POWER OK)
P0
P1
(CURRENT LIMIT ADJUST)
J1 JUMPER BLOCK
(I/O ADDRESS)
J2 JUMPER BLOCK
(INTERRUPT LINE)
J3 JUMPER
(CURRENT LIMIT MODE)
TERMINAL T MOTOR #1
TERMINAL R MOTOR #1
TERMINAL S MOTOR #1
TERMINAL T MOTOR #0
TERMINAL S MOTOR #0
TERMINAL R MOTOR #0
CN1
(INTERFACE BOARD)
9729101b
Figure 3: Base Module board layout
BM board is equipped with two LED indicators for fast and easy visual check of the
controller status. In order to close the servo loop and enable the power amplifiers both LED
must be ON. After the controller is powered and initialised, L1 is ON if the motor power supply
is present and if there is no short circuit between any motor terminal and the computer ground
or the ground of the operating power. L2 is ON if the operating power is present and none of the
digital outputs is overloaded.
4.2.1. Servo Channels
LS-221-BL implements a latest DSP technology for maximum performance and precision. The
controller is based on PMD MC1231A DSP motion control chipset. This allows LS-221-BL to
perform a smooth and precise control of two servo axes requiring minimum resource from the
host processor.
The host computer specifies the acceleration, maximum velocity and final position. A
trapezoidal or S-curve profile may be selected. MC1231A uses this information to control the
movement by accelerating as specified, until the maximum velocity is reached or until
deceleration begins to stop at the specified final position. The deceleration rate is equal to the
acceleration rate. MC1231A continuously keeps track of the absolute motor position using the

LS-221-BL Technical Reference
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10
encoder feedback signal. The encoder delivers two 90
0
phase shifted signals to determine the
speed and direction of the motor's motion.
At any time during the move, the maximum velocity
and/or the target position may be changed, and the motor will accelerate or decelerate
accordingly. All trajectory parameters are 32-bit values.
During the motion, on every sampling interval, MC1231A subtracts the actual position (feed
back position) from the desired one (profile generator position). The resulting position error is
processed by digital filter to produce a motor control command. MC1231A uses a
programmable digital Proportional Integral Derivative (PID) filter to compensate the control
loop. The motor is held at the desired position by applying a restoring force that is proportional
to the position error, plus the integral of the error, plus the derivative of the error. All PID filter
coefficients are 16-bit values.
In addition to trajectory generation and servo loop closure the MC1231A chipset provides
sinusoidal commutation for 3-phase brushless motors. The commutation portion of the chipset
uses as input the motor command signal from servo loop filter. This pre-commutated command
is then multiplied by commutation values derived from an internal lookup Sin/Cos table. The
commutation angle used in the Sin/Cos table is determined by the position encoder as well as
parameters set by the host which relate the specific encoder used to the motor magnetic poles.
The encoder index pulse is used to maintain commutation synchronization.
Another feature is the ability to use Hall-sensors for phase initialization. Three Hall-sensors
initially determine the motor phasing and sinusoidal commutation begins automatically. The
initialization occurs without any motor motion. For motors not supplied with Hall-sensors, a
special algorithmic phase-initialization procedure is available. During the algorithmic
initialization the motor may move suddenly in any direction. Proper safety precaution should be
taken to prevent damage from this movement.
For programming information see the PMD MC1231A chipset manual. The following table
shows memory location of the MC1231A registers:
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0 R/W MC1231A DATA REGISTER
Base Addr + 1 Write MC1231A COMMAND REGISTER
Base Addr + 1 Read READY
Table 2: MC1231A register location
4.2.2. Built-in Power Amplifiers
Each LS-221-BL servo channel is equipped with a built-in power amplifier, capable to
deliver up to 10A. The amplifiers are designed as three half H-bridges with FET transistors
(IRF9540 and IRC530). To achieve a high noise immunity and reliability, the power circuits are
optoisolated from the computer ground.

LS-221-BL Technical Reference
Doc. #710220125
11
+5V
+5V
COMPUTER
POWER
SUPPLY
+12V
+12V
+5V
LM317
SERVO CONTROL
AND
DIAGNOSTIC
AMPLIFIER ENABLE
STATUS
PWM PROCESSING
PWM
FROM MOTION PROCESSOR
TO
HOST PROCESSOR
ISOLATED FROM
COMPUTER GROUND
CHANNEL #0 POWER AMPLIFIER
CHANNEL #1 POWER AMPLIFIER MOTOR #1 TERMINALS
MOTOR POWER
(FLOATING)
HCPL2631
HCPL2631
ENCODER POWER (+9V)
STOP INPUTS
EMERGENCY STOP INPUT
OPERATING POWER/OUTPUT FAILURE
MOTOR POWER FAILURE
MOTOR #0 TERMINAL S
MOTOR #0 TERMINAL R
+5V
OVERCURRENT
SENSE
HCPL2631
MOTOR #0 TERMINAL T
9729200b
Figure 4: Build-in power amplifiers
PWM signals generated by PMD Motion Processor are formed by special circuit to meet the
power bridges requirements. The amplifier enable (AE) is controlled by servo control and
diagnostic logic. The amplifiers are immediately shut down in case of emergency - power
failure, excess current or output overload, emergency stop. The reason caused amplifiers to
disable is latched in special register and is available to the host for diagnostic purpose. If the
amplifiers are disabled while the motors run, they can stop in one of two ways depending on J4
jumper setting. With J4 installed, the motors have their windings shorten, which means faster
stop, to prevent eventually machine dropping. With J4 open, the motors have their windings
open, which causes machine to stop smoothly. If the motors have breaks associated with them,
they can be activated automatically immediately after the amplifiers are disabled.

LS-221-BL Technical Reference
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The output current from each half H-bridge is continuously monitored by a protection logic
and may be limited to a value adjustable in the range of 2
÷
10A. The limit for each axis can be
programmed individually using a special register. The range 2
÷
10A is divided into 16 steps. A
trimmer-pot (P0, P1) is used for precise adjustment of the selected limit. If the amplifier output
is overloaded or even shorted for a moment, the bridge output current is limited to the
programmed value. The protection has two modes depending on J3 jumper setting. With J3
jumper installed, if the overloading takes place more than 100 ms, the servo loop will be shut
down automatically and the PWM power amplifiers will be disabled. If J3 is left open, the servo
loop will remain closed regardless of the overload duration. The output current is limited to the
specified value.
See 4.2.4.3 for more information on current limit.
4.2.3. Digital Outputs and Outbound Power
Being a fully integrated servo controller, along with the servo channels, LS-221-BL offers 8
general purpose digital outputs equipped with high voltage, high current FET transistors and
three relay controlled power sources. The power sources are named based on their typical
application. SPS (System Power Supply) is used basically to power sensors. It is available
immediately after the controller is powered and initialised. You can not turn off this power
without disabling the servo loop and the digital outputs as well. OPT (OPTional power supply)
is general-purpose power source and may be controlled individually. SPS must be ON to enable
OPT. OPS (Output Power Supply) is used basically to power motor breaks and various valves
and switches. OPS can not be controlled separately. It depends on amplifier enable status and
SPS only. If the power amplifiers are enabled, the OPS is present and if the amplifiers are
disabled, the OPS is OFF. This is useful for devices that should be shut off automatically when
the amplifiers are disabled, for instance motor breaks or other emergency circuits.

LS-221-BL Technical Reference
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13
9729901
Figure 5: Digital outputs and outbound power sources
The outputs are open collector transistors connected to the ground of the operating voltage.
They are optoisolated from the computer ground. All outputs are short-circuit protected. If one
of them is overloaded, the protection circuit will shut down all transistor outputs. OPT and SPS
relays will not be affected. The servo loop will be turned off automatically (amplifier disable)
and this will turn off OPS as well. Once activated, the protection keeps outputs disabled until
the reason that caused the overloading is present. The outputs are controlled through the
associated registers.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xA R/W AE RST OPT SPS CL1 CL0
Base Addr + 0xD R/W OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
Table 3: Digital outputs and outbound power registers
To activate an output or a power source, logic one must be written to the corresponding control bit.
Activating the emergency stop will turn off SPS and will disable all other power sources and outputs. For
safety reasons, to prevent an accidental turn on after an emergency, SPS is equipped with a
special double buffered logic. In order to restore SPS after being shut off by emergency stop,
SPS must be cycled off-on. SPS control bit should be first reset to logic zero and after that set to
logic one.

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14
4.2.4. Servo Control and Diagnostic
The servo control and diagnostic logic allows the host to set up the controller and to keep
track of the current LS-221-BL status.
4.2.4.1. Motion Processor Reset
After hardware reset or after system power up, MC1231A chipset is reset. To remove the
servo chip reset, logic zero should be written to the corresponding RST bit. Writing logic one to
the same bit will put MC1231A in reset condition.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xA R/W AE RST OPT SPS CL1 CL0
Table 4: MC1231A reset control
4.2.4.2. Servo Loop
During normal operation, the LS-221-BL servo loop must be closed. With servo loop closed,
the controller constantly reads the current motor position from the encoder and applies the
necessary voltage to the motor to keep the desired trajectory or position. In case of emergency
this loop must be broken (i.e. the power amplifier must be disabled) to protect the controlled
object and/or the controller. With servo loop open, the controller continues to keep track of the
motor position but doesn’t apply any voltage to the motor. LS-221-BL servo loop is controlled by
AE (Amplifier Enable) signal.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xA R/W AE RST OPT SPS CL1 CL0
Table 5: Amplifier Enable control
To set AE signal a logic one should be written to the corresponding control bit. AE may be
reset either by writing logic zero to the same bit, or automatically by servo off condition
generated by LS-221-BL protection circuits.
For safety reasons, AE is equipped with the
same double buffered logic as SPS to prevent an accidental turn on after an
emergency shut down. To restore AE after an emergency, first a logic zero must be
written to AE control bit. A subsequent writing of logic one to AE control bit will
close the servo loop again and will enable the amplifiers
.

LS-221-BL Technical Reference
Doc. #710220125
15
9729302b
Figure 6: Servo control and diagnostic
There are several sources that can cause servo loop to break.
•
Motor Power Failure (MPF)
To power the motors, LS-221-BL requires separate power supply isolated from the
computer ground and from the operating (24V) power supply as well. If Motor Power is
below the undervoltage limit or above the overvoltage limit, MPF is set to logic one and
AE is automatically disabled. MPF is also set to logic one in case of leakage between
high voltage motor circuits and any of low voltage computer or 24V circuits. A current as
low as 0.5mA will trigger the protection. The current MPF value is latched as MPFL at
the moment the servo loop is broken.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xB Read EMG STP MPF OPF EMGL STPL MPFL OPFL
Table 6: MPF status
•
Output Overload / Operating Power Failure (OPF)
The operating power required for the Outputs and Outbound Power Sources must be
24V
±
20%. If it is out of range, the OPF is set to logic one and AE is automatically

LS-221-BL Technical Reference
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16
disabled. All digital outputs are short circuit protected. If any of them is overloaded, all
outputs are disabled and OPF is set to logic one. To distinguish between the two
reasons, OPF should be checked with all outputs reset. In this case only missing or out
of range operating power can activate OPF. The current OPF value is latched as OPFL
at the moment the servo loop is broken.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xB Read EMG STP MPF OPF EMGL STPL MPFL OPFL
Table 7: OPF status
•
Emergency Stop Input (EMG)
LS-221-BL is equipped with emergency stop input. To operate LS-221-BL, a normally
closed contact must be connected to that input. Opening the contact will immediately
disable the amplifiers and all outputs and will shut off the outbound power sources. If the
emergency stop is activated, EMG is set to logic one, otherwise is reset to logic zero.
EMG is continuously available to the host and the current EMG value is latched as
EMGL at the moment the servo loop is broken.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xB Read EMG STP MPF OPF EMGL STPL MPFL OPFL
Table 8: EMG status
•
Stop Inputs (STP) (optional)
Some of the general purpose inputs or a selected combination of them can be used as
an additional emergency stop. This is a custom option and may be installed by user
request. By default it is not used. When the option is installed and stop input is activated,
STP is set to logic one. Under normal conditions STP is logic zero. STP is continuously
available to the host and the current STP value is latched as STPL at the moment the
servo loop is broken.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xB Read EMG STP MPF OPF EMGL STPL MPFL OPFL
Table 9: STP status
•
Current Limit (CL)
When one or more of the power amplifiers reach the programmed current limit the
corresponding CL signal is set to logic one. Otherwise CL is logic zero. CL0, CL1
represent the current overload respectively for channel 0, 1. While the servo loop is
closed (i.e. AE=1), CL0 and CL1 show the actual states of the current limitation for the
corresponding channels. If the servo loop is broken (i.e. AE=0), CL0 and CL1 keep the
CL values from the moment the servo was shut down. By reading the register the host
can determine overloading of which channel had caused the problem.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xA Read AE RST OPT SPS CL1 CL0
Table 10: CL status

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4.2.4.3. Amplifiers Current Control
The output of each amplifier is protected against short circuit or overload. The current delivered to
the load is constantly monitored and compared to a limit that can be set individually for each axis. The
current may be limited to a value in the range of 2÷10 A with 4-bit precision. Only the four MSB are used.
Writing 0x00 to the corresponding register sets the current limit to the lowest level (less than 1A). Writing
0xF0 sets the current limit to the highest level - 10A.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0x408 Write CURRENT LIMIT #0 (0 ÷ 0xF)
Base Addr + 0x409 Write CURRENT LIMIT #1 (0 ÷ 0xF)
Table 11: Current limit registers
If J3 jumper is installed, each time a channel reaches the current limit, the corresponding
CL signal is set to logic one. The CL signals are continuously available to the host for diagnostic
purpose or for a real time control. If the overloading takes place for more than 100 ms, the
servo loop will be shut down automatically and the PWM power amplifiers will be disabled.
Special register latches current CL values at the moment the servo loop is broken. By reading
the register the host can determine which channel had caused servo off.
If J3 is left open, CL signals are forced to logic zero. The servo loop will remain closed
regardless of the overload duration. The output current is limited to the specified value.
4.2.4.4. Interrupt Processing
Reading LS-221-BL Interrupt Status register returns logic one for each event that currently
have requested interrupt. Writing logic zero to the Interrupt Mask register allows each event to
be individually masked off. By default after power up, Interrupt Mask register is cleared and no
interrupts are enabled (except the IRQ from MC1231A, see 4.2.5.2.)
LS-221-BL has two sources that can generate interrupt request (IRQ) to the host as follows:
ADI - Amplifier Disable Interrupt
LS-221-BL is capable to generate interrupt request, each time the amplifiers are disabled. It
doesn’t matter if the amplifiers are disabled by any of the protection circuits or by the software.
Setting the Interrupt Mask enables or disables ADI.
EN ADI = 1, ADI enabled
EN ADI = 0, ADI disabled
MPI – Motion Processor Interrupt
MC1231A motion processor can generate IRQ due to various events. See MC1231A manual
for information how to control interrupt requests.
If MC1231A interrupt is enabled and activated, MPI flag in the LS-221-BL Interrupt Status
register is set to logic one. MPI is just a flag and can not be masked off using LS-221-BL
Interrupt Mask register. MC1231A control register should be used to handle this interrupt.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0xC Read ADI MPI
Base Addr + 0xC Write EN ADI
Table 12: IRQ Status and Mask registers
J2 jumper block selects interrupt line to the host. IRQ7, IRQ10, IRQ12, IRQ15 may be used.

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4.2.5. Board Identifier
Due to its flexible architecture and ISP (In System Programmable) capability, LS-221-BL
allows fast and easy customizations. To provide information for the current controller
configuration, LS-221-BL features an 8-bit ID number. Two four-bit read-only registers form the
controller ID.
R/W access D7 D6 D5 D4 D3 D2 D1 D0
Base Addr + 0x807 Read ID3 ID2 ID1 ID0
Base Addr + 0xC07 Read ID7 ID6 ID5 ID4
Table 13: ID registers
Base address+0x807 = XXXX DDDD
Base address+0xC07 = XXXX DDDD
= DDDD DDDDBase Module ID
Figure 7: ID number
The ID for the standard LS-221-BL configuration is 0xB3.
4.2.6. Interface Connectors
The Base Module carries two interface connectors available to the user. CN3 is the entry for
the external motor and operating power supplies. The emergency stop input is also located
here. All digital outputs and outbound power sources are wired to CN2 connector. A block
diagram of CN2 together with CN3 is shown below.