X20 system modules • Motor controllers • X20SM1436
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X20 system User's Manual 3.10
Maximum deceleration
Name:
MaxDec01
This register defines the maximum deceleration (also applies for homing modes).
Data type
Value
Information
UINT
0 to 65,535
Deceleration in microsteps / cycle²
Reversing loop
Name:
RevLoop01
This parameter is only used in mode 1, -123, -124, -125, -126 (absolute positioning modes).
If the value for the reversing loop is not equal to 0, the position setpoint is approached directly when coming from
one direction; when coming from the other direction, the position setpoint is initially exceeded by the configured
number of steps before finally moving to the position setpoint. This ensures that the target position is always
approached from the same direction (to avoid mechanical backlash).
The sign of the defined value determines the direction in which the reversing loop runs.
Sign
Effective direction
Positive
Reversing loop in positive direction of movement
Negative
Reversing loop in negative direction of movement
Data type
Value
INT
-32,768 to 32,767
Fixed position A
Name:
Data type
Value
DINT
-2,147,483,648 to 2,147,483,647
Fixed position B
Name:
Data type
Value
DINT
-2,147,483,648 to 2,147,483,647
Homing speed
Name:
RefSpeed01
This register sets the speed for homing modes -127 and -128.
Data type
Value
Information
UINT
0 to 65,535
Stall recognition delay
Name:
StallRecognitionDelay01
The value in this register is only relevant for "Homing during stall".
A stall is only detected after the time specified here has expired and after the homing procedure has started.
For example, a setting of 4 (and a cycle time of 25 ms) means that a stall will not be detected until 100 ms after
the motor starts moving (start of the homing procedure).
Set to 0 to eliminate delay.
Data type
Value
Information
USINT
0 to 255
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