Frequently Asked Questions

None. All controllers can be programmed with nothing more sophisticated than a 486PC and an RS232 cable. Programming is done with a simple form of machine code using two-letter mnemonics in a text editor such as Notepad and then "cut and pasted" into Hyperterminal.

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All actuators run on either 24 Volts or 48 Volts DC and our coils draw no more than three Amps. Check with your distributor to discuss which Voltage is best suited to your application.

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Infinite. The actuator can be taught to move or home to any position or number of positions along the stroke length.

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Yes. Not only is it possible to change velocity mid-stroke, you can also move instantaneously between the three operating modes – position, velocity and force.

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We insist that our actuators operate within a 40% duty cycle. Speed is naturally dependant upon the actuator in question, but speeds are typically in excess of one meter per second.

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Soft-Land is a routine which allows the actuator rod or gripper jaw to land on the surface of a component with a low programmable force. This is particularly useful wherever delicate or high value components are being handled. The routine consists of a controlled low force approach in velocity mode, while the position error is constantly monitored. Once contact is made the position error builds up until a pre-programmed figure is reached resulting in the rod maintaining position on the surface of the component.

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The following table gives ballpark PID's. These are starting values only, they may need to be adjusted for different load values or actuator orientations. Values should work with both LAC25 and LAC1 controllers. For 0.5µ and 0.1µ, reduce all values by a factor of 5 (e.g. SG25 becomes SG5).
Linear Encoder	Actuator	Proportional (SG)	Integral (SI)	Derivative (SD)	Integral Limit (IL)
1µ	LAS24	20	20	400	5000
5µ	LAS24	50	50	600	5000
1µ	LAL30/LAR30	25	50	350	5000
5µ	LAL30/LAR30	125	130	700	5000
1µ	LAL37/LAR37	30	50	400	5000
5µ	LAL37/LAR37	120	200	1200	5000
1µ	LAL50/LAR50	30	150	400	5000
5µ	LAL50/LAR50	120	300	1600	5000
1µ	LAL90/LAR90	30	50	400	5000
5µ	LAL90/LAR90;	60	400	1200	5000
1µ	LAL90-50	25	50	300	5000
5µ	LAL90-50	60	100	600	5000
1µ	Grippers	40	40	500	5000
5µ	LAL300	70	300	1500	2000
Standard	LAR30/37/50	150	200	1500	5000
1nm	LAR90	20	200	300	1500

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LAC1 I/O Wiring

PLC/LAC25 I/O Wiring

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J-4 Power Interface 6 Pin 5.08mm Centers Phoenix Mating Connector Digi-Key #ED1721-ED
Pin 1) Axis 1 Motor - Output	Pin 3) Axis 2 Motor - Output	Pin 5) Main V+ Power Input
Pin 2) Axis 1 Motor + Output	Pin 4) Axis 2 Motor + Output	Pin 6) Main Power Return
J-2 User I/O Interface 26 Pin H/D Female D-Sub Mating Connector Norcomp #HDT26P, Digi-Key #T826M-NO
Pin 1) Axis 2 Limit Input	Pin 10) Axis 2 Fault Input	Pin 19) Axis 2 Home Input
Pin 2) Axis 1 Fault Input	Pin 11) Axis 2 Limit + Input	Pin 20) Axis 1 Limit - Input
Pin 3) Axis 1 Limit + Input	Pin 12) Axis 1 Home Input	Pin 21) Common
Pin 4) +5 VDC	Pin 13) Common	Pin 22) Common
Pin 5) +5 VDC	Pin 14) Common	Pin 23) Axis 2 Encoder Index -
Pin 6) Axis 2 Encoder Phase B -	Pin 15) Axis 2 Encoder Phase A -	Pin 24) Axis 2 Encoder Index +
Pin 7) Axis 2 Encoder Phase B +	Pin 16) Axis 2 Encoder Phase A +	Pin 25) Axis 1 Encoder Index -
Pin 8) Axis 1 Encoder Phase B -	Pin 17) Axis 1 Encoder Phase A -	Pin 26) Axis 1 Encoder Index +
Pin 9) Axis 1 Encoder Phase B +	Pin 18) Axis 1 Encoder Phase A +
J-3 Optional I/O Expansion Interface 6 Pin Modular Jack Mating Connector AMP #5-641337-3, Digi-Key #A9093-ND
Pin 1) Receive Data - Input	Pin 3) Receive Data + Input	Pin 5) Clock + Output
Pin 2) Transmit Data - Output	Pin 4) Transmit Data + Output	Pin 6) Clock - Output
J-4-RS-232 Comm Interface 6 Pin Modular Jack Mating Connector AMP #5-641337-3, Digi-Key #A9093-ND
Pin 1) Handshake Output	Pin 3) Receive Data Input	Pin 5) Common
Pin 2) Handshake Input	Pin 4) Transmit Data Output	Pin 6) +5 VDC
J-5 User I/O Interface 26 Pin H/D Female D-Sub Mating Connector Norcomp #HDT26P, Digi-Key #TO26M-ND
Pin 1) Axis 2 Analog Output	Pin 10) Axis 1 Analog Output	Pin 19) Axis 1 Analog Output Return
Pin 2) Analog Input 2	Pin 11) Axis 2 Analog Output Return	Pin 20) 10 VDC Analog Reference Output
Pin 3) Analog Input 1	Pin 12) Analog Input 0	Pin 21) Analog Reference Return
Pin 4) Opto-Output 3	Pin 13) Opto-Input 3	Pin 22) Common
Pin 5) Opto-Output 3 Return	Pin 14) Opto-Input 3 Return	Pin 23) Opto-Input 2
Pin 6) Opto-Input 1	Pin 15) Opto-Output 2	Pin 24) Opto-Input 2 Return
Pin 7) Opto-Input 1 Return	Pin 16) Opto-Output 2 Return	Pin 25) Opto-Input 0
Pin 8) Opto-Output 1	Pin 17) Opto-Input 0	Pin 26) Opto-Input 0 Return
Pin 9) Opto-Output 1 Return	Pin 18) Opto-Input 0 Return

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J1 - Servo Interface 15 Pin Female D-Sub Mating Connector Norcomp #ET15P, Digi-Key #215M-ND
Pin 1) Encoder A +	Pin 6) +5 VDC	Pin 11) Encoder B -
Pin 2) Encoder Index +	Pin 7) Home Input	Pin 12) Common
Pin 3) Encoder B +	Pin 8) Limit + Input	Pin 13) Common
Pin 4) +5 VDC	Pin 9) Encoder A -	Pin 14) Fault Input
Pin 5) +5 VDC	Pin 10) Encoder Index -	Pin 15) Limit - Input
J2 - User I/O Interface 26 Pin H/D Female D-Sub Mating Connector Norcomp #HDT26P, Digi-Key #TO26M-ND
Pin 1) Input 6	Pin 10) Input 7	Pin 19) +5 VDC
Pin 2) Input 4	Pin 11) Input 5	Pin 20) +5 VDC
Pin 3) Input 2	Pin 12) Input 3	Pin 21) +5 VDC
Pin 4) Input 0	Pin 13) Input 1	Pin 22) +5 VDC
Pin 5) Common	Pin 14) Common	Pin 23) Common
Pin 6) Output 6	Pin 15) Output 7	Pin 24) Analog Input 7
Pin 7) Output 4	Pin 16) Output 5	Pin 25) Analog Input 8
Pin 8) Output 2	Pin 17) Output 3	Pin 26) Analog Input 9
Pin 9)	Pin 18)
J3 - User I/O Expansion Interface 6 Pin Modular Jack Mating Connector AMP #5-341337-3, Digi-Key #A9093-ND
Pin 1) Receive Data - Input	Pin 3) Receive Data + Input	Pin 5) Clock + Output
Pin 2) Transmit Data - Output	Pin 4) Transmit Data + Output	Pin 6) Clock - Output
J4 - Power Interface 4 Pin 5.08mm Centers Phoenix Mating Connector Onshore #EDZ95004, Didi-Key #ED1719-ND
Pin 1) Main Power Return	Pin 3) Motor + Output
Pin 2) Main V + Power Input	Pin 4) Motor - Output
J5 - RS-232 Comm Interface 6 Pin Modular Jack Mating Connector AMP #5-641337-3, Digi-Key #A9093-ND
Pin 1) Handshake Output	Pin 3) Recieve Data Input	Pin 5) Common
Pin 2) Handshake Input	Pin 4) Transmit Data Output	Pin 6) +5 VDC

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LAA5 Amplifier Connector - Female

Pin 1	+5V	5 Volts to actuator from controller
Pin 2	5 Volt Return	0 Volts to actuator from controller
Pin 3	Phase A +	Pass-through from amplifier
Pin 4	Phase B +	Pass-through from amplifier
Pin 5	Index +	Pass-through from amplifier
Pin 6	Over temperature	Pass-through from actuator
Pin 7	Over temperature return	Pass-through from actuator
Pin 8	Limit +	Pass-through from actuator
Pin 9	Limit retract	Pass-through from actuator
Pin 10	Limit return	Pass-through from actuator
Pin 11	Fault	Output shutdown bit open collector opto
Pin 12	Inhibit	Amp enable bit, LED of opto
Pin 13	Motor +	Power to actuator
Pin 14	Phase A -	Pass-through from actuator
Pin 15	Phase B -	Pass-through from actuator
Pin 16	Index -	Pass-through from actuator
Pin 17	Not used
Pin 18	Not used
Pin 19	Not used
Pin 20	Not used
Pin 21	Not used
Pin 22	Rotary coarse home
Pin 23	Fault return
Pin 24	Inhibit return
Pin 25	Motor -	Power return from coil

LAA5 Amplifier Connector - Male

Pin 1	+5V	5 Volts to actuator from controller
Pin 2	5 Volt Return	5 Volts to actuator from controller
Pin 3	Phase A +	Pass-through from amplifier
Pin 4	Phase B +	Pass-through from amplifier
Pin 5	Index +	Pass-through from amplifier
Pin 6	Over temperature	Pass-through from actuator
Pin 7	Over temperature return	Pass-through from actuator
Pin 8	Limit +	Pass-through from actuator
Pin 9	Limit retract	Pass-through from actuator
Pin 10	Limit return	Pass-through from actuator
Pin 11	Fault	Output shutdown bit open collector opto
Pin 12	Inhibit	Amp enable bit, LED of opto
Pin 13	V servo command	Pass-through from actuator
Pin 14	Phase A -	Pass-through from actuator
Pin 15	Phase B -	Pass-through from actuator
Pin 16	Index -	Pass-through from actuator
Pin 17	Not used
Pin 18	Not used
Pin 19	Not used
Pin 20	Not used
Pin 21	Not used
Pin 22	Rotary coarse home
Pin 23	Fault return
Pin 24	Inhibit return
Pin 25	V return servo command	+/- 10 Volt from controller

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1) Check for green power light on controller.
2) Check RS-232 cable pin-out. See example:

USB Connection


Com Port Connection

If the baud rate is not 9600, reset it, exit Hyperterminal and re-open Hyperterminal to activate the new setting.

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1.) Load using Hyperterminal. Click on "transfer" and "Send text file." Open your saved .txt file and the download will commence.

2.) Another quick way is to simply copy the program or macro line and paste in Hyperterminal.

3.) Be sure to include MF,RM (for LAC1), OMF,RM (for LAC25) above first macro of program. This will remove any existing macros before loading new program. Do not include these two commands in a macro as a part of the program.

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1) Check power to the actuator. The green LED (5V) should be on.

2) Check the constants (TK). There must be values under SG,SI,SD,IL,SE,SQ,SV&SA. A frequent problem is that SA is not loaded. Be sure the initial loading of constants is done after MF (motor off).

3) To determine if the actuator has a problem, try moving it in torque mode (this mode does not use constants, it is just current to the coil). >QM,MN,SQ5000 should extend the piston.

4) If there is no movement, check for coil resistance. Please contact the factory for exact Ohms rating for your specific actuator.

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All units must be operated with a 40% maximum duty cycle. this can be calculated as follows:

% of max force applied x % of cycle time it is applied = % duty cycle

For example:

100% force x 40% of cycle time = 40% duty cycle.

60% force x 50% of cycle time = 30% duty cycle.

40% force x 100% of cycle time = 40% duty cycle.

Recommendations from SMAC are that this duty cycle must not be exceeded over a one second time period.

NOTE: Failure to observe this duty cycle recommendation will usually result in the actuator sustaining damage through overloading. Overloading will overheat the coil and may cause it to deform and touch on the magnet housing.

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The following are minimum requirements. For exact requirements, contact the factory.

24 VDC Actuators	Linear	2 Amps
	Rotary (1624 Series)	1 Amp
	Rotary (2342 Series)	2 Amps
48 VDC Actuators	Linear	2 Amps
	Rotary (3557CR Series -1 1nm	3 Amps

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Handle the actuator carefully. Do not drop it or subject it to excessive shock loading.

Do not apply any side loads to the rod, as this can lead to increased friction and wear on the internal components.

Avoid putting the actuator in wet, dusty, very hot (›50° C), very cold (‹0° C) environments. Consult SMAC if the actuator is required to work in these environments.

Use the optical index to home the actuator on a regular basis. This is especially important when the actuator is being moved around on another axis or subject to vibration. There is typically a rear limit and an extend limit available for additional conformation of the rod's position.

Avoid powering the rod into the endstops (this is also related to duty cycle).

Use the internal thermister to protect from overtemp conditions.

Get familiar with the actuator by first using it on a horizontal surface with no load and limited force.

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We recommend choosing an actuator capable of two to three times the force needed in your application. This would allow the maximum force needed to be a continuous value for safety. If your application requires a precise force accuracy, it is critical that the coil temperature doesn't increase. This would change the Ratio/Calibration between the output current and the out put force.

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Start your Hyperterminal software.

Enter a name for the program (e.g. SMAC.trm) and choose an icon, then click OK.

A phone number window will appear. In the "connect using" window, choose Direct to COM1 and then click OK.

COM1 properties will appear – set as follows:

Bits per second - 9600

Data Bits - 8

Parity - None

Stop Bits - 1

Flow Control - Xon/Xoff Click

Click OK.

Select a file from pull down menu, select properties, and choose settings in the properties window.

Click on ASCII setup, set line delay to 250ms, click on "wrap lines that exceed terminal width" and Click OK.

Select the file from pull down menu and save.

With RS-232 connected and power to the SMAC unit, pressing the ESC key should display a greater than sign (›).

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For the SMAC controllers, no additional software is needed to program them. They require a text formatted (.txt) program usually written in Notepad and downloaded through Hyperterminal.

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The values will need to be changed to fit your actuator. This software is for the LAC25 and LAR30-25 actuator. If you are using an LAC1, remove all defined axis numbers before the commands along with the second axis code for the rotary.

To use this program, copy and paste this entire program to Notepad, save it, then paste or download through Hyperterminal (Send text file).

Program start will be automatic on power up, because the code starts on (MD0). If you want to command the program to start, delete line (MD0). Starting the program in this manor will require typing (MS5).

;
;(MS0) = LOAD PID'S, ENCODER CHECK
;(MS20) = HOMING LINEAR
;(MS30) = HOMING ROTARY
;(MS40) = POSITION MOVE
;(MS50) = SOFTLAND
;
0MF
RM
MD0,MJ5
;
; *****SET CHANNELS (I/O) OFF*****
MD5,CF0,CF1,CF2,CF3,MJ10
;
; *****LOADING PID'S*****
;Linear
MD10,0MF,PH0,1PM,1SG40,SI50,SD500,IL8000,FR1
;Rotary
MD11,2PM,SG150,SI200,SD1500,IL5000,FR1,EP
;
; *****HOMING LINEAR*****
;First retract to hard stop
MD20,1SV100000,SA10000,SQ10000,SE16383,VM,MN,DI1,GO,FI
;Look for index or forward position error
MD21,RL448,IC10,MJ23,NO,RW538,IB-500,DI0,MJ22,RP
;Look for index or retract position error
MD22,RL448,IC10,MJ23,NO,RW538,IG500,MJ25,NO,RP
;After index found, Go to position mode
MD23,AB,PM,GH,MG"LINEAR HOME",EP
;If position error occurs, motor of & end program
MD25,MG"NO INDEX",MF,EP
;
; *****HOMING ROTARY*****
;Finding the course edge twice is needed to make sure the
;front edge is found.
;Find course home edge
MD30,2DH,2SV50000,SA10000,VM,MN,DI0,GO,2FE1
;Look for course edge, position error, or 5 second time out
MD31,RL592,IC11,MJ32,NO,RW682,IG500,MJ36,NO,RL638,IG6000,MJ37,NO,RP
;Back off of course sensor
MD32,2PM,MN,MR-1000,GO,WS100
;Find front edge
MD33,2VM,MN,DI0,GO,2FE1
;Look for course edge or position error
MD34,RL592,IC11,MJ35,NO,RW682,IG500,MJ36,NO,RP
;Position mode, go home
MD35,2PM,GH,MG"ROTARY HOME",EP
;Position Error
MD36,2MF,MG"ROTARY JAM",EP
;No course found within 360 degree rotation
MD37,2MF,MG"NO COURSE FOUND",EP
;
; *****POSITION MODE MOVE*****
;This line extends 2000 counts and back to 500, 5 times.
MD40,1PM,MN,SV100000,SA50000,SQ20000
MD41,MA2000,GO,WS50,MA500,GO,WS50,RP5,EP
;
; *****SOFTLAND*****
MD50,1MN,VM,SA10000,SV50000,SQ5000,DI0,GO,WA50
MD51,RW538,IG50,AB,MJ52,RP
MD52,MG"LANDED",TP,PM,EP

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