X20 system modules • Motor controllers • X20SM1426
X20 system User's Manual 3.10
1989
Full step threshold
Name:
FullStepThreshold01
This register is used to configure a rotational speed. When this defined speed has been reached, the drive will
automatically change from microsteps to full step mode. This makes it possible to optimize the torque at higher
speeds, while microstep mode ensures optimum concentricity at lower speeds.
It does not make sense to change to full step mode when at a standstill because fine positioning would then
no longer be possible. This is why the value "0" does not make sense in the full step threshold register and is
interpreted as disabling full step mode (i.e. the motor will always be operated in microstep mode).
Data type
Value
Information
0
Full step mode disabled
UINT
1 to 65,535
steps/second
Example
Microstep mode should change to full step mode at 500 steps/second. On a motor with 200 steps per revolution,
this would be equal to a speed of:
4.25.6.13.5.2 Configuration registers without SDC
Module configuration 1
Name:
ConfigOutput02
The number of transfer values and the resolution of microsteps for the drive can be configured in this register.
Data type
Value
UINT
See bit structure.
Bit structure:
Bit
Description
Value
Information
0
The setting for these two bits determines the meaning of bits 2
and 3 in the "Input counter state" register.
x
1 - 2
Reserved
0
00
1 x Δs / Δt (transfer values: MotorStep0)
01
2 x Δs / Δt (transfer values: MotorStep0 - MotorStep1
10
4 x Δs / Δt (transfer values: MotorStep0 - MotorStep3
3 - 4
Number of transfer values per X2X cycle
11
Reserved
00
Resolution: 5 bits (bit 0 - 4) microsteps; 8 bits (bit 5 - 13) full steps
01
Resolution: 6 bits (bit 0 - 5) microsteps; 7 bits (bit 6 - 13) full steps
10
Resolution: 7 bits (bit 0 - 6) microsteps; 6 bits (bit 7 - 13) full steps
5 - 6
Resolution of microsteps for the following registers:
•
•
11
Resolution: 8 bits (bit 0 - 7) microsteps; 5 bits (bit 8 - 13) full steps
7 - 15
Reserved
0
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