0x2700 - Stepper parameters
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2700 | 0x01 | Number of microsteps bits | UINT8 | RW | Yes | Yes | 0-5, 9 | 2 | bits |
0x2700 | 0x02 | Run current | UINT16 | RW | No | Yes | UINT16 | 400 | ‰ rated current |
0x2700 | 0x03 | Standby current | UINT16 | RW | No | Yes | UINT16 | 100 | ‰ rated current |
0x2700 | 0x04 | Number of steps per revolution | UINT16 | RW | No | Yes | UINT16 | 200 | steps |
0x2700 | 0x05 | Number of phases | UINT8 | RW | No | Yes | UINT8 | 2 | - |
| 0x2700 | 0x06 | Enhanced current mde | UINT8 | RW | No | Yes | UINT8 | 0 | - |
This object configures all parameters related to stepper motors.
When using stepper motors without feedbacks each microstep is considered an increment of the position.
SubIndex description:
0x01 (Number of microsteps bits): This object indicates the number of bits used by microstepping algorithm. When using microstepping, the full step is discretized by 2microstep-bits. For example, when using zero bits a full step mode (4 steps per cycle) is used and when using five bit the full step will be discretized by 32 microsteps giving a total of 128 microsteps per cycle. If microstepping value is set to 9, an automatic adaptive microstepping algorithm is activated. This algorithm tries to use the maximum microstepping factor possible for each velocity.
Maximum step rate
Please notice that maximum generated step rate is fixed at 17 kHz. Therefore, increasing the microstepping factor will decrease the maximum reachable motor speed.
- 0x02 (Run current): This object indicates the current applied to the phases of the motor when it is moving. It is considered a moving situation when the target reached bit of the status word is cleared in profiled position mode or when zero speed bit is cleared in profiled velocity mode.
- 0x03 (Standby current): This object indicates the current applied to the phases of the motor when it is stopped. It is considered a stopped situation when the target reached bit of the status word is set in profiled position mode or when zero speed bit is set in profiled velocity mode.
- 0x04 (Number of steps per revolution): In this object the number of full steps per mechanical revolution is indicated. For example a 1.8º resolution stepper motor will have 200 steps per revolution (360º/1.8º).
- 0x05 (Number of phases): This entry indicates the number of phases of the stepper motor. The allowed values are 2 or 3 phases
- 0x06 (Enhanced current mode): This entry indicates if generated current vector could be increased by a 1.4 factor when working in microstepping mode.
