Xinje DS5E Series, Руководство пользователя

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75
3: Multi-loop absolute value servo
4: Stepping motor
SFD3002
+60*(N-1)
Encoder ppr
/1 rotation
32-bit
integer
10000 The feedback counting value of encoder
rotating one circle, it can change the
encoder ppr through this register.
SFD3004
+60*(N-1)
movement/1
rotation
32-bit
integer
Pulse
number
10000 The reference equivalent of motion
(screw lead), the unit is pulse number,
which is the movement quantity. The
pulse number motor rotating one circle.
The motor will rotate one circle as the
pulse number set by this register.
SFD3048
+60*(N-1)
positioning
completion
width initial
value
32-bit
integer
Pulse
number
10 positioning completion width initial
value. PLC has positioning completion
signal in this width, no need to wait for
the completion of pulse sending.
Note: the details please refer to XNET manual.
5.10.4 Bus torque mode
X-NET bus torque mode is a control system for controlling motor output torque. In practical
application, given a value of torque, the value of torque is related to load and speed.
The coils and registers related to torque mode
Address Definition Type
Initial
value
Setting
value Note
SFD3000
+60*(N-1)
Running
mode
16-bit
integer
0 3 0: position ontrol with motion
planning
3: user-defined motion planning
SFD3029
+60*(N-1)
Upper limit
of Position
feedback
offset
16-bit
integer
2500 -1 Positive integer: upper limit of
offset
-1: ignore the offset
Address Definition Type Unit Note
60*(N-1)
Present
displacement
32-bit
integer
Pulse number The displacement relative to the last
time stop position
60*(N-1)
Present position 32-bit
integer
Pulse number Absolute position, converted by target
position feedback pulse numbers
60*(N-1)
Present speed 32-bit
integer
Pulse
number/second
Converted by the feedback value
60*(N-1)
Instant speed
setting
Pulse
number/second
Speed setting of single control period
60*(N-1)
Present torque Floating
number
N.m Servo P7-02=3, 60*(N-1)
set to 1, 60*(N-1) shows
present torque.