Leadshine CS3E-E Series - Motion Objects and Control

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
27
Brake (BRK)
3
In-position (INP)
4 (invalid)
Main control output
5
Therefore,Value of 0x2156 (Decimal) = Output port function value + Polarity value.
For Example:
OUT1 needs to be set as alarm function and polarity is NC:
0x2156+01= 1+128=129(0x81)
4.3.4 Main Control Output Function
Main control output is also called general output and User-defined output,and its usage is as follows:
Name
Index+ Sub-index
Polarity
Open main control
output (60FE+01)
Enable main control
output (60FE+02)
NO
NC
OUT1
2156+01
0x05
0x85
bit16 (0x10000)
bit16 (0x10000)
OUT2
2156+02
0x05
0x85
bit17 (0x20000)
bit17 (0x20000)
For example, when OUT2 is set to main control output function and polarity is NC, the operation steps are as
below:
 Set Object (2156+02h) to value 0x05 to main control output function;
 Set both 60FE+01 and 60FE+02 to value 0x20000,then it is available.
4.4 Motion Objects
Index
Name
Access
Type
Range
Default
value
Unit
Remark
603F
Error code
R
UINT
0-65535
0
--
Refer to chapter 5.2
6040
Control word
R/W
UINT
0-65535
0
--
Refer to chapter 6.1
6041
Status word
R
UINT
0-65535
0
--
Refer to chapter 6.1
605A
Quick stop
type selection
R/W
UINT
0-65535
6
--
0: After stopping immediately, switch on disable
state;
1: After decelerating to stops at a speed value of
0x6084,switch on disable state;
2: After decelerating to stops at a speed value of
0x6085,switch on disable state;
3: After decelerating to stops at a speed value of
0x60C6,switch on disable stat;
4: After stopping immediately, switch on quick stop
state;
5: After decelerating to stops at a speed value of
0x6084,switch on quick stop state;
6: After decelerating to stops at a speed value of
0x6085,switch on quick stop state;
7: After decelerating to stops at a speed value of
0x60C6,switch on quick stop stat;
605D
Asynchronous
mode halt
selection
R/W
INT
0~65535
1
--
1: After decelerating to stops at a speed value of
0x6084,keep operation enable state;
2: After decelerating to stops at a speed value of
0x6085,keep operation enable state;
3: After decelerating to stops at a speed value of
0x60C6,keep operation enable state;
4: After stopping immediately, keep operation enable
state.
6060
Operation
mode
R/W
USIN
T
0-255
8
--
1: PP mode,
3: PV mode,
6: Home mode,
8: CSP mode
6061
Operation
mode display
R
USIN
T
0-255
8
--
-
6062
Position
command
R
DINT
-2147483648
~2147483647
0
Pulse
-