ZLTECH ZLIM42C, Manual

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ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03 ZLIM42C Integrated Open Loop Step Motor Manual Version 1.03
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r/min
6083h 00 Profile_acceleration U32 RW 0-2000ms 100ms
6084h 00 Profile_deceleration U32 RW 0-2000ms 100ms

Control word and status word
The control word in position mode is controlled by bit4 ~ bit6, bit8:
Byte Name Function Description
Bit4 New set-point
0: No assumed target position;
1: Assumed target position;
Bit5 Change set immediately
0: Complete the current position and then start
the next position;
1: Interrupt the current position and start the
next position;
Bit6 ABS/REL
0: The target position is an absolute value
1: The target position is a relative value
Bit8 Halt
0: Terminate current position
1: Set deceleration to stop
Note: According to the above table , the control word of absolute position motion
command is 0x0F-> 0x1F, and the control word of relative position motion command
is 0x4F-> 0x5F.
※
Bit10, Bit12, Bit15 of status word show the driver status
Byte Name Function Description
Bit10 Target reached
0: Halt = 0 target position has not been reached;
Halt = 1 motor is decelerating;
1: Halt = 0 reach the target position;
Halt = 1 motor speed is 0;
Bit12 Set-point acknowledge
0: The target position is pending;
1: The target position has taken effect;
Bit15 Pend
0: Not in place;
1: In place.

Example
Make the motor run relatively based on the parameters (acceleration time 100ms,
deceleration time 100ms, maximum speed 60r / min, total pulse number 3200).
※
Assume that the slave station number of the driver is 1. CANopen instruction control
is described in the following table:
Master Station Slave Station Function Description
00
：
01 00 (According to PDO mapping
situation) NMT Initialize
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 Initialize the driver state
machine
601:23 83 60 00 64 00 00 00 581:60 83 60 00 00 00 00 00 Set acceleration time to
100ms
601:23 84 60 00 64 00 00 00 581:60 84 60 00 00 00 00 00 Set deceleration time to
100ms
601:23 81 60 00 3C 00 00 00 581:60 81 60 00 00 00 00 00 Set maximum speed 60r
/ min
601:23 7A 60 00 80 0C 00 00 581:60 7A 60 00 00 00 00 00 Set the total pulse
number 3200
601:2F 60 60 00 01 00 00 00 581:60 60 60 00 00 00 00 00 Switch work mode
01 Position mode
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 Switch the driver state
machine
(Refer to 402 protocol)
601:2B 40 60 00 07 00 00 00 581:60 40 60 00 00 00 00 00
601:2B 40 60 00 0F 00 00 00 581:60 40 60 00 00 00 00 00
601:2B 40 60 00 4F 00 00 00 581:60 40 60 00 00 00 00 00 Send relative motion
command 1
601:2B 40 60 00 5F 00 00 00 581:60 40 60 00 00 00 00 00 Send relative motion
command 2
5.3.5 Speed Mode
Working Process Description