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ZLIS42C Integrated Step-Servo Motor Manual Version 1.10

Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX

：

+86-0755-2912 4283 WEB:

www.zlingkj.com

Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX

：

+86-0755-2912 4283 WEB:

www.zlingkj.com

2049h

Current loop
proportional
coefficient

Factory default
setting, user does not
need to set

U16 RW

YES

1000

204Ah

Current loop
integral gain

Factory default
setting, user does not
need to set

U16 RW

YES

100

204Bh

Position
proportional gain
Kp

1-30000

U16 RW/S

YES

6000

204Ch

Speed
proportional gain
Kp

1-3000

U16 RW/S

YES

800

204Dh

Speed integral
gain Ki

1-3000

U16 RW/S

YES

400

204Eh

Driver damping
coefficient Kd

1-1000

U16 RW/S

YES

204Fh

Position
compensation
gain Kc

1-3000

U16 RW/S

YES

2000

2050h

Open loop and
closed loop
switching
threshold

1-100

U16 RW/S

YES

2069h

Bus voltage

Unit: V

U16 RO

YES

2088h

Software version

Factory default

U16 RO

CiA 402 Parameter

603Fh

Error_code

Factory-defined drive
error conditions.
0000h: no errors;
FF01h: overvoltage;
FF02h: overcurrent;
FF04h:

U16

YES

out-of-tolerance;
FF08h: missing phase;
FF10h: Internal
reference voltage
error;
FF20h: EEPROM read
and write errors;

6040h

Controlword

Control word

U16 RW

YES

6041h

Statusword

Status word

U16 RO

YES

605Ah

Quick_stop_opti
on_code

Driver processing
method after quick
stop command.
5: Stop normally ,
maintain quick stop
status;
6: Decelerate to stop
emergencely and
maintain quick stop
state;
7: Emergency stop,
maintain quick stop
state;

I16

605Bh

Shutdown_opti
on_code

Driver processing
method after the
close command
0: invalid;
1: Stop normally, go
to ready to switch on
state;

I16

605Ch

Disable_operati
on_option_code

Driver processing
mode after the
disable operation

I16

Содержание ZLIS42C

Страница 1: ...y Gongle Tiezai Rd Xixiang St Bao an Dist Shenzhen China Postcode 518102 Tel 86 0755 2979 9302 Fax 86 0755 2912 4283 Email sales zlingkj com Web www zlingkj com ZLIS42C Integrated Step Servo Motor Man...

Страница 2: ...ITION 9 3 2 CONTROL SIGNAL WIRING 10 3 3 CAN COMMUNICATION PORT DESCRIPTION 12 3 4 STATUS INDICATOR LED 12 4 DIP SWITCH SETTING 13 4 1 STEP RESOLUTION SETTING 13 4 2 MOTOR ROTATION DIRECTION SETTING 1...

Страница 3: ...r which is damaged or with missing parts Installation Installed on a non flammable metal frame prevent the intrusion of dust corrosive gases conductive objects liquids and flammable materials and main...

Страница 4: ...ineer Do not do wiring disassembling or other operation on the terminals during power on There is an integrated circuit on the main control board of the integrated step servo motor Please pay full att...

Страница 5: ...Unit Input voltage 20 VDC 24VDC 50VDC V Output current peak 0 1 5 2 2 A Control signal input current 7 10 16 mA Over voltage protection 55 VDC Input signal voltage 5 VDC Insulation resistance 100 M E...

Страница 6: ...8 1 X0 Single ended input The default input voltage is 5V For other voltages current limiting resistors must be added for example 12V external 1K 1 2W resistor 24V external 2K 1 2W resistor Supports b...

Страница 7: ...tput terminals supports both of NPN and PNP wiring modes and can support high level and low level active controllers 3 3 CAN communication port description ZLIS42C series driver provides 4PIN communic...

Страница 8: ...by the system When the driver address is set greater than 15 user needs to use the upper level debugging software to set and save it And SW2 SW5 switches must be all set to ON 4 2 Terminal resistance...

Страница 9: ...1 byte 2B Set M S Request 2 byte 27 Set M S Request 3 byte 23 Set M S Request 4 byte 60 Setting feedback S M Confirm 40 Read M S Request 0 byte 4F Read feedback S M Answer 1 byte 4B Read feedback S M...

Страница 10: ...rst enter Initialization state After the program is initialized the device will automatically send a Boot Up message and then automatically enter the Pre Operational state After that the slave device...

Страница 11: ...The drive parameters may be changed The drive function is disabled OPERATION ENABLE No faults have been detected The drive function is enabled and power is applied to the motor The drive parameters m...

Страница 12: ...is enabled 0F Initialization step 3 the state of the lower 4 bits of 6041 is 0111 the motor is enabled 0F In speed mode 6061 3 start command 0F 1F In homing mode 6061 6 start command In absolute motio...

Страница 13: ...shaped acceleration deceleration curve is shown in the figure below Position mode acceleration deceleration curve When the total pulse number set by user is small the motor may need to decelerate befo...

Страница 14: ...position Halt 1 motor speed is 0 Bit12 Set point acknowledge 0 The target position is pending 1 The target position has taken effect Bit15 Pend 0 Not in place 1 In place Example Make the motor run re...

Страница 15: ...e 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 be...

Страница 16: ...during_se arch_for_switch U32 RW 0 3000 r min 120 r min 02 Homing_speeds_ Speed_during_se arch_for_zero U32 RW 0 3000 r min 60 r min 609Ah 00 Homing_accelerat ion U32 RW 0 2000ms 100ms 607Ch 00 Home_o...

Страница 17: ...go back a distance Then it will find the origin in the reverse direction at a slow speed When an inverse limit is encountered during homing the reverse movement continues to search for the origin If...

Страница 18: ...60 40 60 00 00 00 00 00 Initialize the driver state machine 601 2F 98 60 00 12 00 00 00 581 60 98 60 00 00 00 00 00 Positive limit mode 601 23 99 60 01 78 00 00 00 581 60 99 60 01 00 00 00 00 Home spe...

Страница 19: ...er 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 Compati...

Страница 20: ...nmapped U32 RW S NO 02 PDO Mapping Entry_2 Unmapped U32 RW S NO 03 PDO Mapping Entry_3 Unmapped U32 RW S NO 04 PDO Mapping Entry_4 Unmapped U32 RW S NO 1800h 00 Number of entries Number of sub indexes...

Страница 21: ...apped U32 RW S NO 04 PDO Mapping Entry_4 Unmapped U32 RW S NO 1A02h 00 Number of entries Number of entries U8 RO NO 0 01 PDO Mapping Entry Unmapped U32 RW S NO 02 PDO Mapping Entry_2 Unmapped U32 RW S...

Страница 22: ...6 25 Kbit s U16 RW S YES 1 200Ah 00 Limit parking mode 0 stop 1 emergency stop 2 invalid U16 RW S YES 0 200Bh 00 Shaft lock method 0 Not enable not lock the shaft 1 Not enable lock the shaft U16 RW S...

Страница 23: ...l function selection U16 RW S YES 0 04 Input terminal X2 terminal function selection U16 RW S YES 0 05 Input terminal X3 terminal function selection U16 RW S YES 0 0C Output terminal Bit0 output termi...

Страница 24: ...S YES 2000 2050h 00 Open loop and closed loop switching threshold 1 100 U16 RW S YES 20 2069h 00 Bus voltage Unit V U16 RO YES 0 2088h 00 Software version Factory default U16 RO NO CiA 402 Parameter 6...

Страница 25: ...to origin mode I8 RO YES 0 6064h 00 Position_actual_v alue Actual position feedback unit pul I32 RW YES 0 606Ch 00 Velocity_actual_v Current motor speed I32 RW YES 0 alue Unit r min 607Ah 00 Target_p...

Страница 26: ...com 50 6099h peed_during_sear ch_for_switch querying the origin position Range 5 3000 r min in 02 Homing_speeds_S peed_during_sear ch_for_zero Return speed after querying the origin Range 5 3000r min...

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