Leadshine CS3E-E Series - Page 22

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
22
2032
00
Distance to send "In
Position" output signal
R/W/S
UINT
0-1000
4
Pulse
-
2033
00
Delay of in-position
error de-jitter
R/W/S
UINT
0-1000
3
ms
-
2047
00
Over voltage point
R
UINT
0-1000
75
V
-
2048
00
Bus-voltage
R
UINT
0-65535
-
V
-
2051
00
Motor running
direction
R/W
DINT
0-1
0
--
0: CCW direction
1: CW direction
But it is recommended to modify
by 0x607E
2056
00
Alarm detection
selection
R/W/S
DINT
0~65535
65535
--
Bit setting:
=1: Yes; =0: No
Bit0: over-current (invalid)
Bit1: over-voltage
Bit2: Position following error
Bit3: Encoder wiring error
Bit4: over speed alarm
2057
00
Reset alarm
R/W/S
UINT
0~65535
0
--
Write value 1 to clear the alarm.
But it is recommended to write
value 128(Decimal) to 0x6040
2090
01
Current loop Kp
R/W
DINT
0~32767
1500
--
--
02
Current loop Ki
R/W
DINT
0~32767
300
--
--
03
Current loop Kc
R/W
DINT
0~32767
300
--
--
2091
01
Speed Loop Kp
R/W
UINT
0~10000
25
-
02
Speed Loop Ki
R/W
UINT
0~10000
3
-
2092
01
Position Loop Kp
R/W
UINT
0~100
25
-
2150
00
Slave ID
R/W/S
UINT
0-256
1
--
Valid when 0x2151= 1;
2151
00
Slave ID resource
R/W/S
UINT
0-10
0
--
0: DIP switches
1: Setting by 0x2150
2: ESC
2232
00
Synchronous
compensation1
R/W
DINT
0—65535
2
--
--
2233
00
Synchronous
compensation2
R/W
DINT
0—65535
100
--
--
225C
00
Special function
register
R/W
DINT
0~32767
0
--
Bit1=1: Set motor running direction
by 0x607E
Bit2=1: Set virtual input by
0x5012-03
22A9
00
Limit Mode
R/W
DINT
0-10
0
--
0: Stop normally
1: Invalid
2: Alarm,error code 260
22B4
00
Quick stop selection
R/W
DINT
0~32767
0
--
0: Alarm,error code 570,
1: Refer to 0x605A
22C2
01
JOG acceleration
R/W
UINT
0~32767
200
02
JOG speed
R/W
UINT
0~32767
60
03
JOG distance
R/W
UINT
0~32767
0
04
JOG cycles
R/W
UINT
0~32767
1
05
JOG direction
R/W
UINT
0~32767
0
06
JOG preparation time
R/W
UINT
0~32767
100
ms
3100
01
Control software
version
R
UINT
--