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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Halt = 1 motor speed is 0;
Eg:
Finish the work of returning to the origin. Select the forward limit + origin mode to
return to the origin. The return speed is 120r / min. The return speed is 60r / min.
The acceleration / deceleration time is 100ms. The origin is not compensated.
※
Assuming the slave station number of the drive is 1, the CANopen command
control is described in the following table:
Master Station
Slave Station Function Description
00
：
01 00
(Depending on PDO mapping
conditions) NMT Initialization
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 Initialize the driver state
machine
601:2F 98 60 00 12 00 00 00 581:60 98 60 00 00 00 00 00 Positive limit mode
601:23 99 60 01 78 00 00 00 581:60 99 60 01 00 00 00 00 Home speed 120r/min
601:23 99 60 02 3C 00 00 00 581:60 99 60 02 00 00 00 00 Return to origin query speed
60r/min
601:23 9A 60 00 64 00 00 00 581:60 9A 60 00 00 00 00 00 Set the deceleration time to
100ms
601:2F 60 60 00 06 00 00 00 581:60 60 60 00 00 00 00 00 Switch work mode
06 Return to origin mode
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 Switching the drive 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 1F 00 00 00 581:60 40 60 00 00 00 00 00 Send back to origin motion
instruction
5.4 Object dictionary
The ZLIM42C series bus type stepper motor driver parameter register includes three
parts, namely 1000h ~ 1FFFh register defined by CIA301, 2000h ~ 2FFFh register defined
by the manufacturer and 6000h ~ 6FFFh register defined by CIA402.
1000h ~ 1FFFh registers are basic parameters of CANopen related parameters defined
by CIA301, including SDO, PDO, and mapping registers;
The 2000h ~ 2FFFh register is a manufacturer-defined register content, including
subdivision and current modification can be implemented within this group of
parameters;
6000h ~ 6FFFh registers are motion parameters related to motion control defined by
CIA402, including position mode, speed mode, return-to-origin mode and other
working mode registers and related motion parameter registers.
Index
Sub-
index
Name Description Type
Attribut
es
PDO
mapping
Defaults
CiA301 Basic Communication Parameter Group
1000h 00 Device Type This device supports
CiA301, CiA402
protocol U32 RO NO 0X0004
0192
1001h 00 Error Register Driver current error
status U8 RO NO 0
1005h 00 COB ID SYNC COB identifier of
synchronization
message
U32 RW NO 0x80
1009h 00 Manufacturer
Hardware Version Hardware version U16 RO NO -
100Ah 00 Manufacturer
Software Version Software version U16 RO NO -
1014h 00 COB ID EMCY EMNC Emergency
Message COB U32 RW NO 0x80
1017h 00 Producer
Heartbeat Time Producer heartbeat
interval, unit: ms U16 RW/S NO 0
1018h 00 Number of entries Sub-index U8 RO NO 5
01 Vendor Id Vendor ID U32 RO NO 0x0100
02 Product Code Supplier Product
Number U32 RO NO 0x0001