Leadshine CS3E-D503E, Руководство пользователя

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CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
49
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
Coun
t
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
Coun
t
4000 indicates the error of one
turn
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 -