X20 system modules • Motor controllers • X20SM1436
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X20 system User's Manual 3.10
4.25.7.15.5.4 Register for reading back the configuration
Read ing the holding current, rated current and maximum current
ConfigOutput03Read (holding current)
ConfigOutput04Read (rated current)
ConfigOutput05Read (maximum current)
These registers are used to read the respective current values in percent.
Register
Description
Nominal current
Current during operation at constant speed
Maximum current
Current during acceleration phases
Holding current
Current when motor is at standstill
Data type
Value
Unit
USINT
0 to 255
Percent of the module's rated current (100% corresponds to the rated current of the motor bridge
power unit listed in the technical data)
4.25.7.15.5.5 Communication registers - General information
Position sync/async
Name:
PositionSync
Positionasync
Depending on the Counter configuration, these registers can be used to read either the internal position counter
or the counter state of the ABR input.
Data type
Value
INT
-32,768 to 32,767
Register
Bit 3 … 0
Bit 3 … 1
Position sync
Internal position counter
ABR counter
Position async
ABR counter
Internal position counter
Internal position counter
The internal position counter is the position calculated by the SM module (set position). This is a cyclic 16-bit
counter.
The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits
5 and 6 of the register Module configuration 1). In the standard function model with SDC, this value is set to "8-
bit microsteps" and can not be changed.
Example of the internal position counter format (7-bit micro steps, i.e. set bit 5 and 6 of the module configuration
to binary 10):
15
0
14 13 12
11 10
9
8
7
6
5
4
3
2
1
0
6
5
4
3
2
1
8
7
6
5
4
3
2
1
0
Full steps
Microsteps
ABR counter
This counter is a cyclic 16-bit counter. The relationship between this counter and the internal position counter
depends on the resolution of the ABR encoder and the microsteps defined for the internal position counter.
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