|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x2433 |
0x01 |
Step Out |
UINT32 |
RW |
No |
Yes |
UINT32 |
0x01 |
increments |
|
0x2433 |
0x02 |
Step In (From release 2.4.12) |
UINT32 |
RW |
No |
Yes |
UINT32 |
0x01 |
increments |
Step & direction command source or stepper emulation is a method in which the position of the motor is controlled by a train of pulses. Each falling edge of the Step pin will increase or decrease the position of the motor (depending on the value of direction input) the number of increments following the next equation:
Applying 0 V to Direction pin will make the system to decrease the position and applying max voltage will increase the position.
This command source is only valid for Cyclic Sync position mode.
The maximum step rate is 100 kHz (or steps/sec) with 5 μs minimum low and high level time.
The direction setup requires a minimum of 1 ms (20 μs minimum hold time after step edge)
|
Direction |
Step |
Description |
|---|---|---|
|
0 |
1 → 0 |
Decrease position in Step value counts |
|
0 |
0 → 1 |
Do nothing |
|
1 |
1 → 0 |
Increase position in Step value counts |
|
1 |
0 → 1 |
Do nothing |