LAC-1 single axis controller manual

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SMAC LAC-1 Technical Reference Manual 6
SMAC LAC-1 Technical Reference Manual 1. Introduction The LAC-1 is a one axis stand-alone integrated controller / driver, with input / output (I/O) capabilities, designed primarily for the control of DC brush type motors or actuators with itÕs integrated driver. The LAC-1 implements a mnemonic type command instruction set via a standard RS-232 serial communications interface. These commands can be executed directly or used to create command macros which are stored in the onboard nonvolatile RAM (NVRAM). The LAC-1 can interface to the real world via the onboard DC motor driver, a quadrature type encoder interface, 8 channels of HCT TTL digital input and 8 channels of HCT TTL type digital output, with additional TTL inputs serving for limit, home and fault functions, 4 channels of 10-bit analog to digital (A/D) conversion (1 of which is reserved for monitoring amplifier output current), and an RS-232 serial communications link. A proprietary RS-422 interface is provided for I/O expansion modules. 1.1 Specifications Description Stand-Alone 1 Axis Servo Motor Controller / Driver Operating Modes Position, Velocity, Torque Filter Algorithm PID Max. Servo Loop Rate 200 µS Trajectory Generator Trapezoidal Servo Position Feedback Incremental Encoder with Index Output (Standard) PWM Motor Drive, 3 Amps Cont. and 6 Amps Peak at 50 VDC Max. PWM Frequency Approximately 19.531 KHz Encoder and Index Input Single-ended or Differential Encoder Supply Voltage 5 VDC Encoder Input Voltage 5.5 VDC Max., -0.1 VDC Min. Encoder Count Rate 2 Million Quadrature Counts per Second Position Range 32 Bits Velocity Range 32 Bits Acceleration Range 32 Bits General Purpose Digital 8 HCT TTL Inputs, 8 HCT TTL Outputs I/O Dedicated Digital Inputs Limit+, Limit-, Home and Fault, all TTL Analog Inputs 4 Channels With 10-Bit Resolution, 3 are user accessible Expansion I/O Optional Expansion to 64 I/O Communication Interface RS-232 Serial Interface, Adjustable Baud Rate, 8 Bits, 1 Stop Bit, No Parity, XON/XOFF Handshake Supply Voltage +11 To +50 VDC Motor Voltage +12 To +48 VDC Dimensions Approximately 5.0Ó Long by 3.3Ó Wide by 1.1Ó Thick Weight Approximately 1 Lb. Table 1. Specifications. 7
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LAC-1 single axis controller manual

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