ZLTECH ZLIS42C, Руководство пользователя

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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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Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX
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+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX
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+86-0755-2912 4283 WEB: www.zlingkj.com
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CiA301, CiA402
protocol 0192
1001h 00 Error Register Driver current error
status U8 RO NO 0
1005h 00 COB ID SYNC COB identifier of
synchronization
message
U32 RW NO 0x80
1009h 00 Manufacturer
Hardware Version Hardware version U16 RO NO -
100Ah 00 Manufacturer
Software Version Software version U16 RO NO -
1014h 00 COB ID EMCY EMNC Emergency
Message COB U32 RW NO 0x80
1017h 00 Producer
Heartbeat Time Producer heartbeat
interval, unit: ms U16 RW/S NO 0
1018h 00 Number of entries Number of entries U8 RO NO 5
01 Vendor Id Vendor ID U32 RO NO 0x0100
02 Product Code Supplier Product
Number U32 RO NO 0x0001
1200h 00 Number of entries Number of entries U8 RO NO 2
01 COB ID Client to
Server COB ID Client to
Server U32 RO NO 600h+N
ode-ID
02 COB ID Server to
Client COB ID Server to
Client U32 RO NO 580h+N
ode-ID
1400h 00 Number of entries Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO0 COB ID U32 RO NO 200+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1401h 00 Number of entries Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO1 COB ID U32 RO NO 300+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1402h 00 Number of entries Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO2 COB ID U32 RO NO 400+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1403h 00 Number of entries Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO3 COB ID U32 RO NO 500+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1600h 00 Number of entries Number of entries U8 RO NO 1
01 PDO Mapping
Entry Map to 6040h register U32 RW/S NO 604000
10h
02 PDO Mapping Unmapped U32 RW/S NO -