Leadshine CS3E-D503E, Руководство пользователя

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CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
21
4.2 Manufacture Specific Object
Index
Sub-
index
Name Access Type Range
Default
value
Unit Remark
2000 00 Peak current R/W/S DINT 1-100 60 0.1A
Drive's max output current.
CS3E-D503E is 25 by default;
CS3E-D507E is 60 by default.
2001 00 Microstep resolution R/W/S DINT 200-51200 10000 Pulse
Required number of pulse to rotate
1 revolution of motor.
But it is recommended to modify
via 6092+01
2007 00 Action when disabled R/W/S UINT 0-1 0 -
0: Don't respond to commands,and
the motor shaft is not locked;
1: Don't respond to commands,but
the motor shaft is locked;
2010 01 Internal filtering time R/W/S UINT 0-32767 100 0.1ms
Internal smoothing time for
control command.
2012 00 Soft-starting time R/W/S UINT 10-3000 1 ms
Internal smoothing time for
starting current.
2013 00
Auto-tuning at power
on
R/W/S UINT 0-2 1 -- 1: Yes. 0: No
2019 01
In-position pulse
compensation
R/W/S UINT 0-1 1 --
0: With compensation, the value of
6064 = 607A in position;
1: Without compensation
2019 02
In-position mode at
disabled state
R/W/S UINT 0-1 0 --
0: Not allowed in-position signal
output when disabled;
1: Allowed in-position signal output
when disabled;
201A 01
Locking current
percentage of power on
R/W/S UINT 0-100 100 % Usually keep the default value.
201A 02
Closed loop holding
current percentage
R/W/S UINT 0-100 50 %
Multiply by the value of object
0x2000, the drive output current
will
change between these
according to the load.
201B 00 Locking duration time R/W/S UINT 0-1500 200 ms
Appropriately reduce this value if
you want to shorten the time of
locking shaft.
201C 00 Max time to close brake R/W/S UINT 100-10000 1000 ms Usually keep the default value
201D 00 Zero speed point R/W/S UINT 0-500 10 0.1r/s -
2024 00 Control Mode R/W/S UINT 0~10 2 --
0: Open Loop Control;
2: Closed Loop Control
2025 01
Speed point for open
loop switching closed
loop R/W/S UINT 0~200 18 0.1r/s -
2025 02
Delay for open loop
switching closed loop
R/W/S UINT 0~32767 12 ms -
2025 03
Speed point for closed
loop switching open
loop R/W/S UINT 0~200 5 0.1r/s -
2025 04
Delay for closed loop
switching open loop
R/W/S UINT 0~32767 250 ms -
2025 05
Feedback speed point
for closed loop
switching open loop
R/W/S UINT 0~200 50 0.1r/s -
2029 00 Encoder resolution R/W/S UINT 4000-20000 4000 Count
4 times the encoder resolution.
But it is recommended to modify
by 01
2030 00
Allowed max position
following error pulses
R/W/S UINT 0~32767 4000 Count
4000 indicates the error of one
turn