The bus digital stepper driver series products are EtherCAT bus digital stepper drivers, which adopt the standard EtherCAT (COE) communication protocol and have built-in CIA402 motion control protocol for cycle synchronous position (CSP), cycle synchronous speed (CSV), track position (PP), track speed (PV), and return to zero (HM) modes. They use the latest 32-bit ARM processor and motor control algorithm to smoothly improve the torque of the motor during high-speed operation at low speeds; Built in button input and digital display output, can set slave station operation parameters such as ID number, baud rate, and running direction, and display the current status of the driver; Comes with 5 digital signal inputs.
index | subindex | name | Instructions | type | attribute | default value |
0x1000 | 0 | Device Type | andCIA rules are consistent | UINT32 | RO | 0x04020192 |
0x1001 | 0 | error register |
| UINT8 | RO | 0 |
0x1010 | 00 | Number of sub indexes | .. | UINT16 | RO | four |
01 | Save all parameters | Save command:0x65766173 | UINT32 | RW | 0 | |
02 | Save communication parameters | Ditto. | UINT32 | RW | 0 | |
03 | Save manufacturer parameters | Ditto. | UINT32 | RW | 0 | |
04 | Save motion parameters | Ditto. | UINT32 | RW | 0 | |
0xone thousand and eleven | 0 | Number of sub indexes | .. | UINT16 | RO | four |
01 | Restore all parameters to factory values | Read command:0x64616F6C | UINT32 | RW | 0 | |
02 | Restore communication parameters to factory settings | Ditto. | UINT32 | RW | 0 | |
03 | Restore the factory settings of motion parameters | Ditto. | UINT32 | RW | 0 | |
04 | Restore user parameters to factory settings | Ditto. | UINT32 | RW | 0 | |
0x1018 | 00 | Number of sub indexes | .. | UINT16 | RO | four |
01 | manufacturerID | supplierID number | UINT32 | RO | 0xAB5 | |
02 | Product Code |
| UINT32 | RO | 0x1010 | |
03 | Modify encoding |
| UINT32 | RO | 0 | |
04 | serial number |
| UINT32 | RO | 0 | |
0x1600 | 00 | Number of sub indexes | PDO default mapping Number of objects | UINT16 | RW | two |
01-12 | RXPDO Mapping Object Group 1 | defaultRXPDO The mapping object | UINT32 | RW | .. | |
0x1601 | 00 | Number of sub indexes | PDO default mapping Number of objects | UINT16 | RW | six |
01-12 | RXPDO Mapping Object Group 2 | defaultRXPDO The mapping object | UINT32 | RW | .. | |
0x1602 | 00 | Number of sub indexes | PDO default mapping Number of objects | UINT16 | RW | five |
01-12 | RXPDO Mapping Object Group 3 | defaultRXPDO The mapping object | UINT32 | RW | .. | |
0x1603 | 0 | Number of sub indexes | PDO default mapping Number of objects | UINT16 | RW | seven |
01-12 | RXPDO Mapping Object Group 4 | defaultRXPDO The mapping object | UINT32 | RW | .. | |
0x1A00 | 0 | Number of sub indexes | PDO default mapping Number of objects | UINT16 | RW | six |
01-12 | TXPDO Mapping Object Group 1 | defaultTXPDO The mapping object | UINT32 | RW | .. | |
0x1A01 | 0 | Number of sub indexes | PDO default mapping Number of objects | UINT16 | RW | five |
01-12 | TXPDO Mapping Object Group 2 | defaultTXPDO The mapping object | UINT32 | RW | .. | |
0x1C00 | 00 | Number of sub indexes |
| UINT16 | RO | four |
01 | Email output type |
| UINT8 | RO | one | |
02 | Email input type |
| UINT8 | RO | two | |
03 | Process data output type |
| UINT8 | RO | three | |
04 | Process data input type |
| UINT8 | RO | four | |
0x1C12 | 0-04 | PXPDO allocation |
| UINT16 | RW | 0x1600 |
0x1C13 | 0-02 | TXPDO allocation |
| UINT16 | RW | 0x1A00 |
0x1C32 | 0-0A | RXPDO management parameters |
| UINT16 | RO | .. |
0x1C33 | 0-0A | TXPDO management parameters |
| UINT16 | RO | .. |
name | function | Instructions | |
ECAT IN/OUT | ETHERCATcommunication port | ECAT IN: Enter ECAT OUT: Out | |
IN/OUT | X0 | Single ended input port | Only supports co positive connection method |
X1 | |||
X2 | |||
XCOM | Single ended input port common terminal Correctly connected and effective | Low speed digital signal input interface | |
Y0 | Single ended output port | Low speed digital signal output interface | |
YCOM | Single ended output port common terminal Compatible with both yin and yang | Compatible with both yin and yang connection methods | |
MOTOR | A+ | motor interface | Two phase stepper motor wiring port |
A- | |||
B+ | |||
B- | |||
VDC | VDC | power interface | DCtwenty-50V |
GND | |||
86 series open-loop and closed-loop stepper motor
