ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
13
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:
phase shortage
Poor contact between motor wire and
driver board.
4
red
internal reference
error
Driver internal fault
5 red
Parameter reading
error
EEPROM parameter read error
6 red
4.
DIP SWITCH SETTING
ZLIS42C driver uses a five-digit DIP switch to set the terminal resistance and driver
address. The details are as follows:
SW1
SW2
SW3
SW4
SW5
4.1. Step resolution Setting
SW2
SW3
SW4
SW5
Address
ON
ON
ON
ON
Customize
OFF
ON
ON
ON
1
ON
OFF
ON
ON
2
OFF
OFF
ON
ON
3
ON
ON
OFF
ON
4
OFF
ON
OFF
ON
5
ON
OFF
OFF
ON
6
OFF
OFF
OFF
ON
7
ON
ON
ON
OFF
8
OFF
ON
ON
OFF
9
ON
OFF
ON
OFF
10
OFF
OFF
ON
OFF
11
ON
ON
OFF
OFF
12
OFF
ON
OFF
OFF
13
ON
OFF
OFF
OFF
14
OFF
OFF
OFF
OFF
15
User can use CAN bus to control up to 127 ZLIS42C series drivers at the same time. The
driver communication address is set with a 4-digit DIP switch. The address setting range
is 0-15, where address 0 is reserved by the system. When the driver address is set
greater than 15, user needs to use the upper-level debugging software to set and save it.
And SW2-SW5 switches must be all set to ON.
4.2. Terminal resistance setting
User can select whether to incorporate a 120-terminal resistor through this bit.
According to the application, it is generally determined that only the master terminal
and the last slave need to connect a 120-ohm terminal resistor.
SW1 = OFF, invalid;
SW1 = ON, effective.
5.
CANOPEN PROTOCOL
This chapter only gives a brief introduction to the related concepts and precautions that
are most commonly used during the use of ZLIS42C, so that user can understand the
general usage of ZLIS42C series product in the shortest time.
5.1. Communication specifications followed by ZLIS42C
Compliant with standards of CAN 2.0A
Compliant with CANopen standard protocol DS 301 V4.02
Compliant with CANope n standard protocol DSP 402 V2.01
5.2. CANopen functional description
Object Dictionary
Object Dictionary (OD for short) is the core concept of CANopen. Every CANopen device
in the network has an object dictionary. Object dictionary is a set of ordered data
objects. These objects describe all the communication and device parameters of the
device, and determine its location in the object dictionary through a 16-bit index and an
8-bit subindex.
Message format
Driver address setting
Terminal resistance setting
