CANopen Programmer's Manual - Maccon.de

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5: Stepper Mode Support CANopen Programmer’s Manual Current Control in Microstepping Mode Servo systems use their servo loops to determine how much current (and in which direction) to apply to the motor. For a stepper motor, the amount of current is typically a constant value programmed by the user. In addition, Copley Controls amplifiers use different current values for different states of motor activity. During constant speed moves, the Run Current is applied. During the acceleration / deceleration portion of the move, the Boost Current is used. After a move completes (the velocity reaches zero) the amplifier continues to apply the Run Current to the motor for the amount of time programmed in the Run to Hold Time object. Once that timeout has expired, the Hold Current is applied. While Boost Current is applied to the motor, an I 2 T limit is used to protect the motor from overheating. If the move remains in the acceleration phase for longer than the boost current time, then the current applied to the motor falls back to the run current. This allows the system to set the Run Current value equal to the motor’s continuous current limit, and set the Boost Current to a value larger then the motor’s continuous limit. Once the move has finished and the holding current has been applied to the motor, an optional voltage control mode of operation can be entered. In this mode of operation, the motor is held in position with extremely low jitter at the expense of a slightly looser control of the current in the motor's windings. The Voltage Control Mode Time Delay object can be programmed to control the delay between entering hold current mode and entering the voltage control mode. If the Voltage Control Mode Time Delay is set to zero, the voltage control mode is disabled. 160 Copley Controls
CANopen Programmer’s Manual 5: Stepper Mode Support 5.2: Stepper Mode Objects Contents of this Section This section describes the objects used to support stepper motor operation. Some are also used in servo mode operation. They include: Boost Current Index 0x2110 ................................................................................................................... 162 Run Current Index 0x2111 .................................................................................................................... 162 Time at Boost Current Index 0x2112 ...................................................................................................... 161 Hold Current Index 0x21D0.................................................................................................................... 161 Run to Hold Time Index 0x21D1 ............................................................................................................. 161 Detent Correction Gain Factor For Microstepping Mode Index 0x21D2 ................................................. 161 Voltage Control Mode Time Delay Index 0x21D5 ................................................................................... 162 Stepper Configuration and Status Index 0x21D6 .................................................................................... 162 Maximum Velocity Adjustment Index 0x21D8......................................................................................... 162 Proportional Gain For Stepper Outer Loop Index 0x21D7 ...................................................................... 162 Copley Controls 161
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