Leadshine EM522-CAN, User Manual

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EM522-CAN Field bus Stepper Drive User Manual V1.0
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Therefore, it is suggested to choose only sufficiently high supply voltage for intended applications.
4.5 Object Dictionary Introduction
Object Dictionary is an organized group of objects, which maps the stepper drive related parameters and variables.
Parameters of EM522-CAN can be configured via CAN to USB adaptor and Leadshine CANopen software or PLC &
controller & control card, use SDO communication mode to modify the drive parameters. Corresponding ESD file and
Leadshine CANopen software can be free download in Leashine official website: http://www.leadshine.com .
4.5.1 Common list objects
(
1)Factory parameters
CANopen
Address
Parameter Name Property
Default
Value
Range Description
2000+00 Peak current R/W/S 1000
100-maximum
current
Current Accuracy 100mA,
maximum current is due to peak
current output of drive (mA).
2001+00 Motor resolution R/W/S 50000 200-51200
Required pulse for each rotation
circle of motor
2002+00 Stand-by time R/W/S 500 100-10000 unit: ms
2003+00
Standby current
percentage
R/W/S 50 0-100 unit: %
2005+01
Digital output IO
function Selection
R/W/S 1 0-32768
1: Alarm output
4: Arrive output
16: Master station controls the
output port(set by 60FEH )
2008+00
ALM output
impedance setting
R/W/S 0 0/1
0: Optocoupler conduction
when alarm activated
1: Optocoupler shut off when
alarm activated
2013+00
Enable current
loop auto-tuning
R/W/S 1 0/1 0:Enable 1:Disable
2015+00 Current loop Kp R/W/S 1000 200-32767
Only can be read when enable
auto-tuning, can be wrote when
disable auto-tuning
2016+00 Current loop Ki R/W/S 200 0-32767
Only can be read when enable
auto-tuning, can be wrote when
disable auto-tuning
2020+00 Motor resistance R/W/S 1000 1-20000 Unit: mOhms
2021+00 Motor inductance R/W/S 1 1-6000 Unit: uH
2039+00
External position
amount high 16 bit
R
Received location instruction
accumulated value high 16bit
2040+00
External position
amount low 16 bit
R/W
Received location instruction
accumulated value low 16bit
2043+00 Speed reference R Unit: r/s
2051+00
Motor running
direction
R/W/S 0 0/1
0:Motor running direction is
constant