CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 5: Stepper Mo<strong>de</strong> Support<br />
VOLTAGE CONTROL MODE TIME DELAY INDEX 0X21D5<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW milliseconds 0 - 10,000 YES RF<br />
Description<br />
Time <strong>de</strong>lay from entering hold current before entering the special voltage control mo<strong>de</strong> of<br />
operation. This mo<strong>de</strong> tra<strong>de</strong>s the normal tight control of current for very low jitter on the motor<br />
position. Used in stepper mo<strong>de</strong> only. Set to 0 to disable this feature.<br />
STEPPER CONFIGURATION AND STATUS INDEX 0X21D6<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - - YES RF<br />
Description<br />
Bit-mapped as follows:<br />
Bit Description<br />
0 Use the enco<strong>de</strong>r input for phase compensation if enabled. Pure stepper mo<strong>de</strong> if disabled.<br />
1 Use on outer position loop to adjust the stepper position based on Position Error (in<strong>de</strong>x 0x60F4, p. 139).<br />
When this bit is set, the gain value Maximum Velocity Adjustment (in<strong>de</strong>x 0x21D5, p. 163) is multiplied by the<br />
Position Error, and the result is a velocity that is ad<strong>de</strong>d to the microstepping position.<br />
2-15 Reserved.<br />
MAXIMUM VELOCITY ADJUSTMENT INDEX 0X21D8<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW 0.1 steps/sec - YES RF<br />
Description<br />
This is the maximum velocity adjustment ma<strong>de</strong> by the stepper outer position loop when enabled.<br />
This parameter is only used when the stepper outer loop is engaged, which occurs when bit 1 of<br />
Stepper Configuration and Status (in<strong>de</strong>x 0x21D6, p. 163) is set.<br />
PROPORTIONAL GAIN FOR STEPPER OUTER LOOP INDEX 0X21D7<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - - YES RF<br />
Description<br />
This parameter gives the gain used for calculating a velocity adjustment based on Position Error<br />
(in<strong>de</strong>x 0x60F4, p. 139). This parameter is only used when the stepper outer loop is engaged,<br />
which occurs when bit 1 of Stepper Configuration and Status (in<strong>de</strong>x 0x21D6, p. 163) is set.<br />
Copley Controls 163