CANopen Programmer's Manual - Maccon.de

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5: Stepper Mode Support CANopen Programmer’s Manual BOOST CURRENT INDEX 0X2110 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps 0 – 32,767 YES RF Description Functions as boost current in stepper mode and peak current in servo mode. Current used during acceleration and deceleration in stepper mode. Specifies a boost or peak current limit in 0.01-amp units. RUN CURRENT INDEX 0X2111 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps 0 – 32,767 YES RF Description Functions as run current in stepper mode and continuous current in servo mode. Output of the current limiter (0.01-amp units). This is the current that the current loop will attempt to apply to the stepper motor during continuous velocity portion of moves. TIME AT BOOST CURRENT INDEX 0X2112 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds 0 – 10,000 YES RF Description Functions as time at boost current in stepper mode and time at peak current in servo mode. Specifies the maximum time at boost or peak current. The amplifier uses this value as an input to an I 2 T current limiting algorithm to prevent over stressing the load. HOLD CURRENT INDEX 0X21D0 Type Access Units Range Map PDO Memory Unsigned 16 RW 0.01 amps 0 - 32,767 YES RF Description Current used to hold the motor at rest. Used in stepper mode only. RUN TO HOLD TIME INDEX 0X21D1 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds 0 - 10,000 YES RF Description The period of time, beginning when a move is completed, during which the output stays at run current level before switching to hold current level. Used in stepper mode only. DETENT CORRECTION GAIN FACTOR FOR MICROSTEPPING MODE INDEX 0X21D2 Type Access Units Range Map PDO Memory Unsigned 16 RW - - YES RF Description Can be used to reduce detent noise. 162 Copley Controls
CANopen Programmer’s Manual 5: Stepper Mode Support VOLTAGE CONTROL MODE TIME DELAY INDEX 0X21D5 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds 0 - 10,000 YES RF Description Time delay from entering hold current before entering the special voltage control mode of operation. This mode trades the normal tight control of current for very low jitter on the motor position. Used in stepper mode only. Set to 0 to disable this feature. STEPPER CONFIGURATION AND STATUS INDEX 0X21D6 Type Access Units Range Map PDO Memory Integer 16 RW - - YES RF Description Bit-mapped as follows: Bit Description 0 Use the encoder input for phase compensation if enabled. Pure stepper mode if disabled. 1 Use on outer position loop to adjust the stepper position based on Position Error (index 0x60F4, p. 139). When this bit is set, the gain value Maximum Velocity Adjustment (index 0x21D5, p. 163) is multiplied by the Position Error, and the result is a velocity that is added to the microstepping position. 2-15 Reserved. MAXIMUM VELOCITY ADJUSTMENT INDEX 0X21D8 Type Access Units Range Map PDO Memory Unsigned 32 RW 0.1 steps/sec - YES RF Description This is the maximum velocity adjustment made by the stepper outer position loop when enabled. This parameter is only used when the stepper outer loop is engaged, which occurs when bit 1 of Stepper Configuration and Status (index 0x21D6, p. 163) is set. PROPORTIONAL GAIN FOR STEPPER OUTER LOOP INDEX 0X21D7 Type Access Units Range Map PDO Memory Unsigned 16 RW - - YES RF Description This parameter gives the gain used for calculating a velocity adjustment based on Position Error (index 0x60F4, p. 139). This parameter is only used when the stepper outer loop is engaged, which occurs when bit 1 of Stepper Configuration and Status (index 0x21D6, p. 163) is set. Copley Controls 163
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About this Manual CANopen Programme
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CANopen Programmer's Manual - Maccon.de

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