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:
Control word and status word
※
The control word in homing mode is controlled by bit4, bit8
Byte
Name
Function Description
Bit4
Homing operation start
0: Zero return mode is not active
0 1: Start zero return mode
1: Home mode is activated
1 0: Interrupt return to zero mode
Bit8
Halt
0: Perform Bit4 exercise
1: Stop motion with zero return acceleration
Note: According to the table above, the control word is sent as 0x0F-> 0x1F.
※
Bit8 and Bit10 of status word show the driver status:
Byte
Name
Function Description
Bit8
Homing attained
0: Zero return mode is not completed
1: Zero return mode is complete
Bit10
Target reached
0: Halt = 0 The home position is not reached;
Halt = 1 motor deceleration;
1: Halt = 0 reached zero position;
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 ZLIS42C 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
U32 RO
NO
0X0004
