X20 system modules • Motor controllers • X20SM1436
X20 system User's Manual 3.10
2053
Software limit
Name:
PositionLimitMin01
PositionLimitMax01
This register configures software limits. The function is active if at least one of the two registers is unequal to zero.
These limits are effective in all positioning modes. Position overrun is not possible when this function is enabled.
Movement is always contained within the two limits.
If a position is specified that violates the minimum/maximum software limit, the "Internal limit active" bit will be set
in the Status word register. The motor movement will be stopped until a position is specified within the limits.
The "Internal limit active" bit will also be set in the "Status word" register if there is a configuration error (minimum
> maximum).
Data type
Value
DINT
-2,147,483,648 to 2,147,483,647
Information:
The software limits will only be monitored in connection with the following CANopen bus controllers:
•
X20BC0043-10
•
X20BC0143-10
•
X67BC4321-10
•
X67BC4321.L08-10
•
X67BC4321.L12-10
4.25.7.15.6.2 Register for reading back the configuration
Read ing the holding current, rated current and maximum current
ConfigOutput03aRead (holding current)
ConfigOutput04aRead (rated current)
ConfigOutput05aRead (maximum current)
These registers are used to read the respective current values in percent.
Register
Description
Nominal current
Current during operation at constant speed
Maximum current
Current during acceleration phases
Holding current
Current when motor is at standstill
Data type
Value
Unit
USINT
0 to 255
Percent of the module's rated current (100% corresponds to the rated current of the motor bridge
power unit listed in the technical data)
4.25.7.15.6.3 Communication registers
Set position/speed
Name:
AbsPos01
This register is used to set position or speed, depending on the operating mode.
•
Position mode (see "Mode"): Cyclic setting of the position setpoint in microsteps. In this mode, one mi-
cro-step is always 1/256 full-step.
•
Speed mode (see "Mode"): In this mode, this register is used as a signed speed setpoint.
Data type
Value
DINT
-2,147,483,648 to 2,147,483,647
Summary of Contents for X20 System
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