Motion iWMC Series - Page 6

iWMC Integrated Servo Wheel User Manual
3.4 Read/Write Drive Conguraon ............................................................................................ 12
3.4.1 Read Driver Conguraon ............................................................................................ 12
3.4.2 Write Sengs to The Drive ........................................................................................... 13
3.5 Velocity Mode Introducon .................................................................................................. 15
3.6 Digital I/O Funcons .............................................................................................................. 16
3.6.1 Digital Input ................................................................................................................... 16
3.6.2 Digital Output ................................................................................................................ 17
3.7 Scope ..................................................................................................................................... 18
3.8 Error Display And Error History ............................................................................................. 20
Chapter4 Performance Tuning ............................................................................................ 23
4.1 Tuning Velocity Loop ............................................................................................................. 23
4.2 Tuning Posion Loop ............................................................................................................. 26
4.3 Other factors that aect performance .................................................................................. 28
Chapter 5 Alarm Exclusion ................................................................................................... 29
Chapter 6 RS485 Communicaon ......................................................................................... 33
6.1 RS485 Wiring ......................................................................................................................... 33
6.2 RS485 Communicaon Parameters ....................................................................................... 33
6.3 MODBUS RTU Communicaon ............................................................................................. 34
6.4 Funcon Code of Modbus ..................................................................................................... 34
6.5 Modbus Message Example ................................................................................................... 35
Chapter7 CANOpen Communicaon ................................................................................... 37
7.1 CANOpen bus communicaon .............................................................................................. 37
7.2 CANOpen bus communicaon hardware.............................................................................. 37
7.2.1 CANOpen bus communicaon soware ....................................................................... 39
7.2.2 CANOpen bus communicaon sengs ........................................................................ 49