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ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
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The acceleration curve under speed mode is shown in the figure below. Differ from
position mode, speed mode only needs to set 3 parameters: initial speed (address
200E00h), target speed (address 608100h), acceleration time (address 608300h). After
the motor accelerates to the maximum speed according to set 3 parameters , it will run
uniformly at the maximum speed.
Speed mode acceleration curve
※
Related Object Dictionary Content
Index Sub-
Index
Name Typ
e
Attribute Parameter
Range
Set
6060h 00 Modes_of_operation I8 RW 0,1,3,6 3
200Eh 00 Initial Speed U16 RW 2-300 r/min 5 r/min
60FFh 00 Target_velocity I32 RW -3000 r/min
~3000 r/min
120
r/min
6083h 00 Profile_acceleration U32 RW 0-2000ms 100ms
6084h 00 Profile_deceleration U32 RW 0-2000ms 100ms
Control word and status word
※
Control word in speed mode is controlled by bit8
Byte Name Function Description
Bit8 Halt
0: Implement motion;
1: Stop motion.
※
Bit10 and Bit12 of status word show driver status
Byte Name Function Description
Bit10 Target reached
0: Halt = 0 target speed has not been reached;
Halt = 1 motor is decelerating;
1: Halt = 0 reach target speed;
Halt = 1 motor speed is 0;
Bit12 Speed
0: Speed is not 0;
1: Speed is 0.
Example
Make the motor run based on the parameters (acceleration time 100ms, deceleration
time 100ms, maximum speed 60r / min).
※
Assume that the slave station number of the driver is 1. CANopen instruction control
is described in the following table:
Master Station Slave Station Function Description
00
：
01 00 (According to PDO mapping
situation) NMT Initialize
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 Initialize the driver state
machine
601:23 83 60 00 64 00 00 00 581:60 83 60 00 00 00 00 00 Set acceleration time to
100ms
601:23 84 60 00 64 00 00 00 581:60 84 60 00 00 00 00 00 Set deceleration time to
100ms
601:23 FF 60 00 3C 00 00 00 581:60 81 60 00 00 00 00 00 Set target speed 60rpm
601:2F 60 60 00 03 00 00 00 581:60 60 60 00 00 00 00 00 Switch work mode
03 Speed mode
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 Switch the driver state
machine
(Refer to 402 protocol) 601:2B 40 60 00 07 00 00 00 581:60 40 60 00 00 00 00 00
601:2B 40 60 00 0F 00 00 00 581:60 40 60 00 00 00 00 00