ZLTECH ZLIM42C, Manual

Page 1: ...iezai Rd Xixiang St Bao an Dist Shenzhen China Postcode 518102 Tel 86 0755 2979 9302 Fax 86 0755 2912 4283 Email sales zlingkj com Web www zlingkj com ZLIM42C Integrated Open Loop Step Motor Manual CA...

Page 2: ...RESOLUTION SETTING 13 4 2 MOTOR ROTATION DIRECTION SETTING 14 5 CANOPEN PROTOCOL 14 5 1 COMMUNICATION SPECIFICATION FOLLOWED BY ZLIM42C 14 5 2 CANOPEN FUNCTION DESCRIPTION 14 5 3 DRIVER CONTROL PROTO...

Page 3: ...motor which is damaged or with missing parts Installation Installed on a non flammable metal frame prevent the intrusion of dust corrosive gases conductive objects liquids and flammable materials and...

Page 4: ...Do not do wiring disassembling or other operation on the terminals during power on There is an integrated circuit on the main control board of the integrated step servo motor Please pay full attentio...

Page 5: ...tput current peak 0 1 5 2 2 A Step signal frequency 0 200k Hz Control signal input current 7 10 16 mA Over voltage protection 29 VDC Input signal voltage 5 VDC Insulation resistance 100 M Holding torq...

Page 6: ...7 8 1 X0 Single ended input The default input voltage is 5V For other voltages current limiting resistors must be added for example 12V external 1K 1 2W resistor 24V external 2K 1 2W resistor Support...

Page 7: ...rminals supports both of NPN and PNP wiring modes and can support high level and low level active controllers 3 3 CAN communication port description ZLIM42C series driver provides 4PIN communication p...

Page 8: ...m When the driver address is set greater than 15 user needs to use the upper level debugging software to set and save it And SW2 SW5 switches must be all set to ON 4 2 Terminal resistance setting User...

Page 9: ...est 1 byte 2B Set M S Request 2 byte 27 Set M S Request 3 byte 23 Set M S Request 4 byte 60 Setting feedback S M Confirm 40 Read M S Request 0 byte 4F Read feedback S M Answer 1 byte 4B Read feedback...

Page 10: ...first enter Initialization state After the program is initialized the device will automatically send a Boot Up message and then automatically enter the Pre Operational state After that the slave devi...

Page 11: ...eady The drive parameters may be changed The drive function is disabled OPERATION ENABLE No faults have been detected The drive function is enabled and power is applied to the motor The drive paramete...

Page 12: ...or is enabled 0F Initialization step 3 the state of the lower 4 bits of 6041 is 0111 the motor is enabled 0F In speed mode 6061 3 start command 0F 1F In homing mode 6061 6 start command In absolute mo...

Page 13: ...e S shaped acceleration deceleration curve is shown in the figure below Position mode acceleration deceleration curve When the total pulse number set by user is small the motor may need to decelerate...

Page 14: ...rget position Halt 1 motor speed is 0 Bit12 Set point acknowledge 0 The target position is pending 1 The target position has taken effect Bit15 Pend 0 Not in place 1 In place Example Make the motor ru...

Page 15: ...Name Function Description Bit8 Halt 0 Implement motion 1 Stop motion Bit10 and Bit12 of status word show driver status Byte Name Function Description Bit10 Target reached 0 Halt 0 target speed has not...

Page 16: ...origin mode 29 Reverse origin mode 0 6099h 01 Homing_speeds_ Speed_during_se arch_for_switch U32 RW 0 3000 r min 120 r min 6099h 02 Homing_speeds_ Speed_during_se arch_for_zero U32 RW 0 3000 r min 60...

Page 17: ...ountered during homing the reverse movement continues to search for the origin If the motor runs in the reverse direction the negative limit is valid the machine stops immediately and the homing fails...

Page 18: ...00 00 00 00 00 601 2B 40 60 00 0F 00 00 00 581 60 40 60 00 00 00 00 00 601 2B 40 60 00 1F 00 00 00 581 60 40 60 00 00 00 00 00 Send back to origin motion instruction 5 4 Object dictionary The ZLIM42C...

Page 19: ...S NO 0 1402h 00 Number of entries Number of entries U8 RO NO 5 01 COB ID RPDO2 COB ID U32 RO NO 400 No de ID 02 Transmission Type Transmission Type U8 RW S NO FFh 03 Inhibit Time Inhibit Time U16 RW...

Page 20: ...y Entry Compatibility Entry U8 RW NO 0 05 Event Timer Event Timer U16 RW S NO 0 1802h 00 Number of entries Number of entries U8 RO NO 5 01 COB ID TPDO2 COB ID U32 RO NO 380 No de ID 02 Transmission Ty...

Page 21: ...ES 0 2002h 00 Motor running speed Current speed of the motor I16 RO YES 0 2003h 00 Input signal status 4 input signal level status Bit0 Bit3 X0 X3 input level status U16 RO YES 0 2004h 00 Output signa...

Page 22: ...YES 0 2010h 00 0 invalid 1 fault reset 0 invalid 1 Restore factory settings 2 Save all RW attribute parameters to EEPROM U16 RW YES 0 2011h 00 Fault reset command 0 invalid 1 fault reset U16 RW YES 0...

Page 23: ...t loop proportionality factor Factory default users do not need to set U16 RW YES 2041h 00 Current loop integral gain Factory default users do not need to set U16 RW YES 204Bh 00 X0 X1 input filter ti...

Page 24: ...in Operation Enabled state I16 RW NO 0 6060h 00 Modes_of_oper ation 0 undefined 1 position mode 3 speed mode I8 RW YES 0 6 Return to origin mode 6061h 00 Modes_of_oper ation_display 0 undefined 1 posi...

Page 25: ...es U8 RO NO 2 01 Homing_speeds_S peed_during_sear ch_for_switch Running speed when querying the origin position Range 5 3000 r min U32 RW YES 120r m in 02 Homing_speeds_S peed_during_sear ch_for_zero...