Leadshine CS3E-D503E, Руководство пользователя

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CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
22
2032 00
Distance to send "In
Position" output signal
R/W/S UINT 0-1000 4 Pulse -
2033 00
Delay of in-position
error de-jitter
R/W/S UINT 0-1000 3 ms -
2047 00 Over voltage point R UINT 0-1000 75 V -
2048 00 Bus-voltage R UINT 0-65535 - V -
2051 00
Motor running
direction
R/W DINT 0-1 0 --
0: CCW direction
1: CW direction
But it is recommended to modify
by 0x607E
2056 00
Alarm detection
selection
R/W/S DINT 0~65535 65535 --
Bit setting:
=1: Yes; =0: No
Bit0: over-current (invalid)
Bit1: over-voltage
Bit2: Position following error
Bit3: Encoder wiring error
Bit4: over speed alarm
2057 00 Reset alarm R/W/S UINT 0~65535 0 --
Write value 1 to clear the alarm.
But it is recommended to write
value 128(Decimal) to 0x6040
2090
01 Current loop Kp R/W DINT 0~32767 1500 -- --
02 Current loop Ki R/W DINT 0~32767 300 -- --
03 Current loop Kc R/W DINT 0~32767 300 -- --
2091
01 Speed Loop Kp R/W UINT 0~10000 25 -
02 Speed Loop Ki R/W UINT 0~10000 3 -
2092 01 Position Loop Kp R/W UINT 0~100 25 -
2150 00 Slave ID R/W/S UINT 0-256 1 -- Valid when 0x2151= 1;
2151 00 Slave ID resource R/W/S UINT 0-10 0 --
0: DIP switches
1: Setting by 0x2150
2: ESC
2232 00
Synchronous
compensation1
R/W DINT 0—65535 2 -- --
2233 00
Synchronous
compensation2
R/W DINT 0—65535 100 -- --
225C 00
Special function
register
R/W DINT 0~32767 0 --
Bit1=1: Set motor running direction
by 0x607E
Bit2=1:
Set virtual input by
0x5012-03
22A9 00 Limit Mode R/W DINT 0-10 0 --
0: Stop normally
1: Invalid
2: Alarm,error code 260
22B4 00
Quick stop selection
R/W DINT 0~32767 0 --
0: Alarm, error code 570,
1: Refer to 0x605A
22C2
01 JOG acceleration R/W UINT 0~32767 200
02 JOG speed R/W UINT 0~32767 60
03 JOG distance R/W UINT 0~32767 0
04 JOG cycles R/W UINT 0~32767 1
05 JOG direction R/W UINT 0~32767 0
06 JOG preparation time R/W UINT 0~32767 100 ms
3100 01
Control software
version
R UINT --