ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
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Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX
：
+86-0755-2912 4283 WEB:
Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX
：
+86-0755-2912 4283 WEB:
through the object 6061h (Modes_of_operation_display). ZLIS42C series driver
currently supports 3 working modes: Profile Position Mode, Profile Velocity Mode,
Homing Mode.
※
Driver working mode
Index
Sub-
Index
Name
Type
Attribu
te
PDO
Mapping
Parameter Range
Default
6060h
00
Modes_of
_operation
I8
RW
NO
0: Undefined
1: Profile Position
Mode
2: Profile Velocity
Mode
6: Homing Mode
0
5.3.4 Position Mode
Work process description
The position mode is realized by S-shaped acceleration and deceleration curve. User can
set the initial speed (address 200E0010h), maximum speed (address 60810020h),
acceleration time (address 60830020h), deceleration time (address 60840020h), and
total pulse number (address 607A0020h) to achieve precise position control via the bus.
The S-shaped acceleration / deceleration curve is shown in the figure below.
Position mode acceleration/deceleration curve
When the total pulse number set by user is small, the motor may need to decelerate
before it accelerates to the maximum speed (that is, the motor does not accelerate to
the maximum speed set by the user during actual operation). The speed curve is shown
in the figure below. The solid line in the figure shows the actual running curve of the
motor, and the dotted line is the curve that motor needs to run, to accelerate to the set
maximum speed. The theoretical total pulse number is the minimum total pulse
number calculated according to the user-set parameters (initial speed, maximum speed,
acceleration time, deceleration time). When the total pulse number set by the user is
less than the theoretical total pulse number, the motor will run as shown by the solid
line in the figure.
Position mode acceleration/deceleration curve (not accelerated to the set maximum speed)
※
Related Object Dictionary Content
Index
Sub-
Index
Name
Typ
e
Attribute
Parameter Range
Set
6060h
00
Modes_of_operation
I8
RW
0,1,3,6
1
607Ah
00
Target_position
I32
RW
-1000000~1000000
3200
200Eh
00
Initial Speed
U32
RW
2-300 r/min
5 r/min
6081h
00
Profile_velocity
U32
RW
5-3000 r/min
120
