CANopen Programmer's Manual - Maccon.de

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