Leadshine EM3E Series, User Manual

Page: 23 / 59

EM3E Series EtherCAT Stepper Drive User Manual
23
4.2 Manufacture Specific Object
Inde
x
Sub-
inde
x
Name Access Type Range
Defaul
t value
Unit Remark
2000 00 Peak current R/W/S DINT 100-7000 1000 mA Drive's max output current.
2001 00
Microstep
resolution
R/W/S DINT 200-51200 10000
Puls
e Required number of pulse to
rotate 1 revolution of motor
2007 00
Action when
disabled
R/W/S UINT 0-1 0 -
0: Don't respond to
commands, and the motor
shaft is not locked;
1: Don't respond to
commands, but the motor
shaft is locked;
2010 01
Internal filtering
time
R/W/S UINT 0-32767 100
0.1m
s Internal smoothing time for
control command.
2012 00 Soft-starting time R/W/S UINT 10-3000 1 ms
Internal smoothing time for
starting current.
2013 00
Auto-tuning at
power on
R/W/S UINT 0-2 1 -- 1: Yes. 0: No
201A 01
Locking current
percentage of
power on
R/W/S UINT 0-100 100 %
Usually keep the default
value.
201B 00
Locking duration
time
R/W/S UINT 0-1500 200 ms
Appropriately reduce this
value if you want to shorten
the time of locking shaft.
201C 00
Max time to close
brake
R/W/S UINT 100-10000 1000 ms
Usually keep the default
value
201D 00 Zero speed point R/W/S UINT 0-500 10
0.1r/
s
-
2047 00 Over voltage point R/W/S UINT 0-1000 75 V EM3E-870E is 120V
2048 00 Bus-voltage R UINT 0-65535 - V -
2051 00
Motor running
direction
R/W DINT 0-255 0 --
Valid when 0x225C= 0;
0: CCW direction
1 or 4: CW direction
2056 00
Alarm detection
selection
R/W/S DINT 0~65535 65535 --
Bit setting:
=1: Yes; =0: No
Bit0: over-current (invalid)
Bit1: over-voltage
2090
01 Current loop Kp R/W DINT 0~32767 1500 -- --
02 Current loop Ki R/W DINT 0~32767 300 -- --
03 Current loop Kc R/W DINT 0~32767 300 -- --
2150 00 Slave ID R/W/S UINT 0-256 1 -- Valid when 0x2151= 1;
2151 00 Slave ID resource R/W/S UINT 0-10 0 --
0: DIP switches
1: Setting by 0x2150
2: ESC
2232 00
Synchronous
compensation1
R/W DINT 0—65535 2 -