3 Module description
| Adjustable parameters
18
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
Overview of the editable parameters UR20-1SM-50W-6DI2DO-P
Channel Description
Options
1)
Default
Remark
8
Encoder function
Enc.Pos. in process data (0) / Contouring error monitoring (1) / disabled (2)
disabled
8
Homing
Stop on Ref.switch 0➝1 (0) / Stop on Ref.switch 1➝0 (1) / Stop on homing bit
1➝0 (2)
Stop on Ref.
switch 0➝1t
8
Encoder resolution
0 ... 65535
1000
steps/revolution
8
Full steps stepper motor/rev. 0 ... 65535
200
8
Contouring error
0 ... 100
1
in % of the step resoluti-
on.of the motor
1) Values in brackets for Modbus-TCP (firmware version 02.00.00 and higher), CANopen, EtherCAT and EtherNet/IP via module parameter class
2) Reserved for future firmware versions
“Start/stop frequency F
SS
” parameter
The “start/stop frequency F
SS
” parameter is used to adjust the
start/stop frequency F
SS
of the stepper motor incl. coupled
external inertia.
5 ... 2,500 (default: 1,000)
The start/stop frequency F
SS
is 5 ... 2,500 increments.
“Factor F
max
” parameter
The “factor F
max
” parameter is used to adjust the maximum
frequency F
max
of the stepper motor as a multiple of the start/
stop frequency F
SS
.
1 ... 255 (default: 1)
The maximum frequency is F
max
= 1 ... 255 × F
SS
.
“Max. acceleration” parameter
The “max. acceleration” parameter defines the maximum
acceleration as a percentage of the highest possible accele-
ration (65,535 incr./s²).
1 ... 100 (default: 50)
The maximum acceleration is a
max
= 1% ... 100% (0.01 ... 1)
× 65,535 incr./s².
“Micro steps” parameter
The “micro steps” parameter defines the step increments per
full step in the power of two.
1 ... 256 (default: 4)
The step increments per full step equate to 1 ... 256.
“Traversing range” parameter
The “traversing range” parameter is used to set the length
of the traversing range in increments. The traversing range
always begins with -2147483648.
-2147483648 ... 2147483647 (default: 1,000)
The traversing ranges extends to
-2147483648 ... 2147483647 increments.
The traversing range is specified in increments. If
you double the value of the “micro steps” parame-
ter, you halve the actual traversing range.
“Drive current” parameter
The “drive current” parameter defines the motor current per
phase as a multiple of 10 mA.
0 ... 228 (default: 127)
The current per phase is i
drive
= 0 ... 228 × 10 mA.
If you set a very low current, the actual current
may differ considerably from the set value. The
connected motor must have a nominal current of
at least 200 mA.
“Soft start factor” parameter
Reserved for future firmware versions.
