Leadshine CS3E-E Series - Control and Operation Mode Parameters

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
50
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
--
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