Leadshine CS3E-E Series - Page 23

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
23
02
Firmware version
R
UINT
--
03
EtherCAT protocol
version
R
UINT
--
3FFE
01-0E
Alarm record
R
USINT
0~32767
--
--
0x3FFE+01 is the current error
code (current alarm) or the most
recent error code (currently no
alarm);
0x3FFE+02-0E are followed by the
historical error code.
4003
01
Delay of closing brake
R/W/S
UINT
0-1500
250
ms
4003
02
Delay of loosening
brake
R/W/S
UINT
0-1500
250
ms
4003
03
Max speed to close
brake
R/W/S
UINT
0-500
10
0.1r/s
5000
01
Trajectory generator
R
UINT
0~32767
1
--
Internal protocol stack parameters
02
Motion state machine
R
UINT
0~32767
0
--
0: Disabled
0x9A9A: Enabled
03
Internal enable state
R
UINT
0~32767
0
--
0: Disabled
1: Enabled
04
Reach the target state
R
UINT
0~32767
--
--
Bit0=0: Not reach
Bit0=1: Reach
Bit1=0: No stall
Bit1=1: Stalled
5002
01
ESC ID
R/W
UINT
0~32767
0
--
Write 0, return the ID data in ESC
to 0x5002-02；
Write 0x12, return the current ID
setting by DIP switches
02
ESC data
R
UINT
0~32767
408
--
Return Node ID data
5004
01-0E
Sync0 Synchronization
interface parameters
R
UINT
0~32767
--
--
--
0F
Sync0 Synchronization
interface parameters
R/W
UINT
0~32767
--
--
Bit0 =1: RPDO mapping can’t be
written by SDO;
Bit0 =0: RPDO mapping can be
written by SDO;
Bit1=1: Detect the number of PDO
mapping;
Bit1=1: Don’t detect the number of
PDO mapping;
Bit2=1: Send 0xF directly to enable;
Bit2=0: Send 0xF can’t be enabled.
5005
00
DC compensation base
value
R/W
UINT
0~32767
500
--
--
5006
00
Synchronization error
detection
R/W
UINT
0~32767
0
--
--
5010
00
Effective input and
output watchdog time
R/W
UINT
0~32767
0
--
--
5011
00
Internal actual location
R
UDINT
0~32767
--
--
--
5012
01
Homing arrival
position
R/W
DINT
0~32767
0
--
--
02
Homing trigger
position
R/W
DINT
0~32767
0
--
--