DMX-CAN Manual
page 45
rev 1.6
Max Attempt (02
h
)
10
Tolerance Range (03
h
)
10
Idle Tolerance Range (04
h
)
5
Error Range (05
h
)
1000
Table 8.11
The Tolerance Range, Idle Tolerance Range, and Error Range sub indices are all in units
of pulses.
Object 2002
h
: StepNLoop Delta
Delta position is the difference between the actual and the target position in terms of
encoder counts. When the delta goes over the allowed Error Range, the motor is stopped
and the StepNLoop status goes into the “stall” error state.
Object Description
Index
Name
Data Type
Value Range
Access
2002
h
StepNLoop Delta
Signed 32
-(2
31
) - (2
31
-1)
Read Only
Table 8.12
Object 2003
h
: StepNLoop Status
This object returns the current StepNLoop status.
Object Description
Index
Name
Data Type
Value Range
Access
2003
h
StepNLoop Status
Unsigned 16
0 - 13
Read Only
Table 8.13
Data Description
Value
Description
0
Idle
1
Moving
2
Correcting
3
Stopping
4
Aborting
5
Jogging
6
Homing
7
Z-Homing
8
Correction Range Error: Delta has exceeded error range while the motor is idle.
9
Correction Attempt Error: Motor has exceeded maximum correction attempts.
10
Stall Error: Delta has exceeded error range while motor is moving.
11
Limit Error
12
N/A (StepNLoop disabled)
13
Limit Homing
Table 8.14
