B&R Industries X20 System, Руководство пользователя

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X20 system modules • Motor controllers • X20SM1436
X20 system User's Manual 3.10 2029
4.25.7.15 Register description
4.25.7.15.1 Operation with bus controller
The following function model can be used when the SM module is used together with a bus controller.
Bus controller Function model
X20BC0083, X20BC1083, X20BC8083, X20BC8084 All function models
All others Function model 254 - Bus controller (identical to Ramp function model)
4.25.7.15.2 Function model 0 - Standard without SDC
Read Write Register Name Data type
Cyclic Non-cyclic Cyclic Non-cyclic
Configuration
44 Stall threshold UINT ●
46 Module configuration 1 UINT ●
33 Holding current USINT ●
34 Nominal current USINT ●
35 Maximum current USINT ●
32 Counter configuration USINT ●
52 Mixed decay threshold UINT ●
81 Motor ID trigger USINT ●
84 Full step threshold UINT ●
Reads the configuration
33 Holding current USINT ●
34 Nominal current USINT ●
35 Maximum current USINT ●
Communication
6 Position sync/async UINT ●
64 Position latched sync/async INT ●
12 Motor identification UINT ●
Index* 2 + 16 MotorStepN (Index N = 0 to 3) UINT ●
0 Position sync/async INT ●
86 Position sync 2 INT ●
Input counter state USINT
ModulePowerSupplyError Bit 0
StatusInput01 Bit 2
StatusInput02 Bit 3
StatusInput03 Bit 4
4
StatusInput04 Bit 5
●
Error status USINT
StallError Bit 0
OvertemperatureError Bit 1
CurrentError Bit 2
10
OvercurrentError Bit 3
●
60 Position latched sync/async INT ●
68 usSinceTrigger UINT ●
Module configuration 2 USINT
StartLatch Bit 0
TriggerEdgePos Bit 1
TriggerEdgeNeg Bit 2
TriggerEdge Bit 3
StartTrigger Bit 4
54
ClearError Bit 5
●
Stepper latch trigger status USINT
LatchInput Bit 0
LatchDone Bit 1
72
TriggerInput Bit 4
●