CanServo/HLS12/0

HLS12

• The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
• For all other details, please refer to the specifications for firmware version 2.3.

Operating range

• For example, with a 100 mm product, the innermost point corresponds to the 0 mm position, and the outermost point corresponds to the 100 mm position.
• It operates corresponding to the -60° and +60° positions of POSITION_NEW.

• POSITION_NEW (Reg 30)
  • min = -60 deg = 8192 - 60 x 16384 / 360
  • max = +60 deg = 8192 + 60 x 16384 / 360

Coordinate system

• POSITION_NEW (Reg 30) = Target Location = -60 deg to +60 deg
• REAL POSITION_NEW (Reg 37) = The value of POSITION_NEW converted into an actual distance value.
• VIRTUAL REAL POSITION_NEW (Reg 35) = A virtual target that moves toward POSITION_NEW based on the speed setting
• POSITION (Reg 12) = Current position = Same coordinate system as POSITION_NEW
• REAL POSITION (Reg 13) = POSITION value converted into distance units
  • ex) 1500 = 15.00 mm

• The distance unit changes if the product length exceeds 200 mm.
  • ex) 1500 = 150.0 mm

Name	Address	Unit	Range	Description	ex
POSITION_NEW	30	Target Location	16384 = 360 deg	-60 deg to +60 deg	inner = -60 deg, outter = +60 deg

Power Rate

• It adjusts the output power at a specified ratio without the need to modify the power (wattage) setting.
• Reg 41 (0x29)
  • 4095 = 100%
• Condition
  • Reg 65 (0x41) activated and bit 13 = 1
  • Reg 65 (0x41) activate: Reg 160 (0xA0) bit 15 = 1

Changed Unit

• Velocity Max
  • 1 = 0.01 mm / sec
• option/deadband
  • 1 = 0.01 mm

Acceleration and deceleration

• Adjust the smoothness of acceleration and deceleration using the Smart Sense setting value.
• Values ​​of 0, 1, and 4095 result in no acceleration or deceleration smoothing.
• The range is from 4095 down to 2; values ​​closer to 2 result in smoother acceleration and deceleration.
  • Note: If the value is very low, the time required to reach the target may become significantly longer.
• Recommended range: 500 – 3000

Calibration Data

• The physical operating limits are stored in POSITION MIN/MID/MAX.
• DO NOT MODIFY THESE VALUES.

Etc

• CAN sample point selectable: 50%, 87.5%
• HW_DEF_1 (Reg 0xA5) = HLS12 length (mm) = 30, 50, 100
• HW_DEF_2 (Reg 0xA7) = HLS12 gear ratio (1:x) = 50, 100, 210, 380