Leadshine CS3E-E Series - Synchronization and Homing Parameters

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
51
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 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
--
--
03
Homing virtual
input
R/W
UDINT
0~32767
0
--
When 0x225C=4, activate the
virtual input function; 60FD
different bits, corresponding to
different virtual inputs;
Inputs
Bit of 60FD
Probe signal 1
Bit 26=1
Home switch
Bit 2=1
Positive limit
Bit 1=1
Negative limit
Bit 0=1
Z signal
(index signal)
Bit 31=1
For example: 0x225C=4 and start
homing, set 0x5012-03=4, Home
switch input; set 0x5012-03=2,
Positive limit input; set 0x5012-03=2,
Negative limit input
04
Homing setting
R/W
UINT
0~32767
5
--
Bit0=0: Homing protection is not
turned on;
Bit0=1: Homing protection is turned
on;
(Homing protection: when start
homing, If the limit signal takes
effect, bit0=0 means homing
normally, bit0=1 means stop
homing as limit protection )
Bit2=0: The value of current
position after in position = 0x607C;
Bit2=1: The value of 0x607C is used
as the motion offset, and finally
0x6064 = 0;
Bit3=0: 0x6064= 0x607C after in
position;
Bit3=1: 0x6064 = 0x607C after in
position;
5015
05
Protocol setting
R/W
UINT
0~32767
255
--
Bit8 is used to select whether the
speed arrival in PV mode comes
from bit0 of 0x5000-04 or bit8 of
0x5000-04.