ZLTECH ZLIS42C User manual

Shenzhen ZhongLing Technology Co.,Ltd.
Add:8th Floor, Building 3, Qiyu Industrial City, Gongle
Tiezai Rd., Xixiang St., Bao'an Dist, Shenzhen, China
Postcode: 518102
Tel: [phone]
Fax: [phone]
Email: [e-mail]
Web: www.zlingkj.com
ZLIS42C
Integrated Step-Servo Motor
Manual
【Please read the manual in detail before use, to avoid damage to the motor】

ZLIS42C In tegrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
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CONTENTS
PREFACE..................................................................................................................3
SAFETY PRECAUTIONS..............................................................................................3
1. PRODUCT INTRODUCTION ....................................................................................6
1.1. OUTLINE ........................................................................................................................ 6
1.2. FEATURES ...................................................................................................................... 6
1.3. APPLICATION ................................................................................................................. 7
2. ELECTRICAL, ENVIRONMENTAL INDEX....................................................................7
2.1. ELECTRICAL INDEX ........................................................................................................ 7
2.2. ENVIROMENTAL INDEX ................................................................................................. 7
2.3. INSTALLATION DIAGRAM.............................................................................................. 8
2.4. INSTALLATION ............................................................................................................... 8
3. DRIVER INTERFACE AND WIRING...........................................................................9
3.1. INTERFACE DEFINITION ................................................................................................ 9
3.2. CONTROL SIGNAL WIRING.......................................................................................... 10
3.3. CAN COMMUNICATION PORT DESCRIPTION............................................................. 12
3.4. STATUS INDICATOR LED............................................................................................... 12
4. DIP SWITCH SETTING ..........................................................................................13
4.1. STEP RESOLUTION SETTING ....................................................................................... 13
4.2. MOTOR R OTAT IO N DIRECTION SETTING.................................................................... 14
5. CANOPEN PROTOCOL .........................................................................................14
5.1.COMMUNICATIONSPECIFICATION FOLLOWED BY ZLIS42C ..................................... 14
5.2.CANOPEN FUNCTION DESCRIPTION .......................................................................... 14
5.3.DRIVER CONTROL PROTOCOL CIA402 ........................................................................ 18
5.4.OBJECT DICTIONARY................................................................................................... 34
RELEASE NOTES:
Version Update Time Update Content Updater
V1.00 2019-12-28 First Edition LHY
V1.10 2021-03-25 1. Update P/N from ZLIS42-C to ZLIS42C;
2. Correct the usage of 6040 bit5 in Chapter
5.3.4 Position Mode;
3. Correct 6098 content in Chapter 5.3.6
Return to Origin Mode;
4. Revise Chapter 5.4 Object dictionary
Increase 2013h, 2050h
Revision 2000h, 2002h, 2006h, 2012h,
6098h
Modify the default values of 2042h, 2043h,
204Ch, 607Ah
YKL

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PREFACE
Thanks for choosing the ZLIS47-C, the integrated open loop step motor.
This manual describes the installation, debugging, maintenance, operation and
other aspects of the integrated step-servo motor ZLIS42C. Please read this manual
in detail before use, and be familiar with the safety precautions. This manual may
will be revised timely when product is improved, specifications and version are
changed or for some other reasons, which will not be notified again.
Any questions when using our products, please read the relevant manual or call our
technical service department, we will meet your requirements in the shortest
possible time.
Marks and warning signal:
Danger: Indicates that this operation error may endanger
personal safety!
Attention: Indicates that this operation error may result in
equipment damage!
SAFETY PRECAUTIONS
Open Box and Check
Do not install integrated step-servo 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
maintain good heat dissipation conditions.
During installation, be sure to tighten the mounting screws of the
integrated step-servo motor. It should be protected from vibration and shock.
Wiring
Please perform the wiring work by professional electrical engineer;
Before wiring, please confirm that the input power is off. Wiring and
inspection must be performed after the power is turned off and the integrated
step-servo motor indicator is off to prevent electric shock;
When plugging and unplugging the integrated step-servo motor
terminals, make sure that its indicator is off before proceeding;
Please set the emergent stop circuit outside the controller;
Please tighten the output terminal with a suitable torque.
Electrify
Please confirm whether the main circuit input power is consistent with
the rated working voltage of the integrated step-servo motor;
Do not test the integrated step-servo motor for high voltage and
insulation resistance at will;
Do not connect the electromagnetic contactor or electromagnetic
switch to the output circuit.
Operation
Do not directly touch the output terminals after the integrated
step-servo motor is powered on;
When the system is running, the integrated step-servo motor may

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have a high temperature rise, do not touch it;
Please confirm the input and output signals to ensure safe operation;
The alarm can be reset only after the operation signal is cut off. Alarm
resetting in the running signal state will cause the integrated step-servo motor
to restart suddenly;
Do not change the parameter settings of the integrated step-servo
motor at will. The parameter modification needs to be performed under standby
condition.
Maintenance and Inspection
Do not touch the integrated step-servo motor terminals directly, and
some have high voltage, very dangerous;
Before powering up, be sure to install the cover; when removing the
cover, be sure to cut off the power supply first;
Before wiring, please confirm whether the input power is off;
After cutting off the main circuit input power and confirming the
integrated step-servo motor indicator light has completely extinguished, it
can be inspected and maintained;
Do the inspection and maintenance by professional electrical
engineer;
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 attention when checking to
avoid damage caused by static induction.
1. PRODUCT INTRODUCTION
1.1. Outline
The ZLIS42C is a 2 phase digital step-servo motor with high-performance digital
integrated driver. The system has a simple structure and high integration, and adds bus
communication and single-axis controller functions. The bus communication adopts
CAN bus interface, and supports CiA301 and CiA402 sub-protocols of the CANopen
protocol.
1.2. Features
■Full closed loop control, no step loss;
■Ultra-low vibration and low noise;
■Adopt CAN bus communication, support CiA301 and CiA402 sub-protocol of
CANopen protocol, can mount up to 127 devices;
■Support working modes such as position control, speed control and Home position
return.
■User can set parameters such as starting speed, acceleration time, deceleration
time, maximum speed, and total pulse number through the bus to achieve S-shaped
acceleration and deceleration function;
■User can set the current, subdivision and locked current through the bus to control
start and stop of the motor and query the real-time status of the motor;
■Input voltage: 24V-48VDC;
■4 Isolated signal input ports, programmable, implement the driver's functions such
as enable, start stop, emergency stop and limit;
■2 isolated output ports, programmable, output driver‘s status and control signals;

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■4 DIP switch selection, 16-segment step resolution;
■With over-voltage, over-current, out of tolerance protect function etc;
■With built-in 2500-wire magnetic encoder, provides real-time feedback of motor
running state.
1.3. Application
Suitable for all kinds of small automation equipment and instruments, such as:
pneumatic marking machine, labeling machine, cutting machine, laser marking machine,
plotter, small engraving machine, CNC machine tool, pick and place device. It is
particularly effective in applications where users expect low noise, low vibration, high
stationarity and high precision.
2. ELECTRICAL, ENVIRONMENTAL INDEX
2.1. Electrical Index
Driver Parameter Min value Typical value Max value Unit
Input voltage 20 VDC 24VDC 50VDC V
Output current(peak) 0 1.5 2.2 A
Control signal input
current
7 10 16 mA
Over-voltage
protection
- 55 - VDC
Input signal voltage - 5 - VDC
Insulation resistance 100 MΩ
Encoder resolution 2500 Wires
Holding
torque
L=70mm 0.48 N.m
L=82mm 0.72
2.2. Environmental Index
Cooling Type Natural cooling or forced cooling
Working
environment
Application occasion Avoid dust, oil mist and corrosive gases
Working temperature 0~50℃
Max. ambient humidity 90% RH(no condensation)
Storage temperature -10~70℃
Vibration 10~55Hz/0.15mm
2.3. Installation Diagram
Fig.1 Installation dimension diagram (Unit: mm)
There are 2 options for L:70mm, 82mm. 2 options for ∅D: 5mm, 8mm.
2.4. Installation
User could mount with the mounting holes on the front of the integrated
step-servo motor. Use M3 screw to install through the holes in the four corners.
The integrated step-servo motor will generate heat. If continuous operation is
under high input voltage and high power conditions, the effective heat dissipation
area or forced cooling should be expanded. Do not use in places where air is not
circulating or where the ambient temperature exceeds 60℃; do not install it in a
place that is wet or has metal shavings.

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3. DRIVER INTERFACE AND WIRING
3.1. Interface Definition
3.1.1 Power input port
Port Pin Mark Name Function
6
5
4
3
2
1
6 DC Power interface Power supply 24V-48V
5 GND
4 CANH Communication
interface
CAN communication interface
3 CANL
2 CANH
1 CANL
3.1.2 DIP switch
Port Pin Mark Name Function
1 SW1
DIP switch
CAN terminal resistance selection
2 SW2
Driver address setting
3 SW3
1 2 3 4 5
4 SW4
5 SW5
3.1.3 Control signal port
Port Pin Mark Name Function
1
2
3
4
5
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.
Supports both of NPN and PNP wiring
modes, port functions can be modified by
software.
2 X1
3 X2
4 X3
5 XCOM Common
input
6 Y0 Single-ended
output
Supports both of NPN and PNP wiring
modes, port functions can be modified by
software.
7 Y1
8 YCOM Common
output
3.2 Control Signal Wiring
ZLIS42C series driver provides 4 optically isolated programmable input interfaces, which
is compatible with NPN wiring and PNP wiring.
The 4(X0-X3) programmable input signals are isolated from the external control
interface by an optocoupler, and the driver is compatible with common cathode and
common anode connection methods, as shown in the figure below. In order to ensure
the reliable conduction of the optocoupler inside the driver, the driving current
provided by the controller is required to be at least 10mA.

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The level pulse width of X0-X input needs to be greater than 10ms, otherwise the driver
may not respond normally. X0-X3 timing diagram is shown in Figure 2.
Fig.2 Control signal interface wiring diagram
Fig.3 Input interface circuit
Note: The default input voltage of the control signal 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.
After the driver is powered on, X0-X3 defaults to the unspecified state. At this time, the
input signal is invalid. Users can configure X0-X3 input functions through the bus.
ZLIS42C series driver provides 2 optocoupler isolated output terminals, supports both of
NPN and PNP wiring modes, and can support high-level and low-level active controllers.
3.3. CAN communication port description
ZLIS42C series driver provides 4PIN communication port. For pin definition, please refer
to 3.1.1 Power Port / Communication Port, which includes CANH, CANL, CANH and
CANL. Note: Please use shielded twisted-pair cables for communication cables and
ground them to ensure stable communication.
3.4. Status Indicator LED
The green LED is the power indicator, which is always on when the driver is powered up;
it is off when the driver is powered off. The red LED is the fault indicator. When the
driver fails, it will stop and prompt the corresponding fault code. The fault can be
cleared when the user powers off and restarts the power. The status indicator LED
represents different operation and fault information, as shown in the following table:
Status Condition Status indicator LED
description
over-voltage Power supply voltage exceeds the
maximum rated voltage 1 red
over-current
The phase current through the motor
exceeds the rated current, or interphase
short circuit.
2 red
exceed tolerance position exceed tolerance 3 red

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phase shortage Poor contact between motor wire and
driver board. 4 red
internal reference
error Driver internal fault 5 red
Parameter reading
error EEPROM parameter read error 6 red
4. DIP SWITCH SETTING
ZLIS42C driver uses a five-digit DIP switch to set the terminal resistance and driver
address. The details are as follows:
SW1 SW2 SW3 SW4 SW5
4.1. Step resolution Setting
SW2 SW3 SW4 SW5 Address
ON ON ON ON Customize
OFF ON ON ON 1
ON OFF ON ON 2
OFF OFF ON ON 3
ON ON OFF ON 4
OFF ON OFF ON 5
ON OFF OFF ON 6
OFF OFF OFF ON 7
ON ON ON OFF 8
OFF ON ON OFF 9
ON OFF ON OFF 10
OFF OFF ON OFF 11
ON ON OFF OFF 12
OFF ON OFF OFF 13
ON OFF OFF OFF 14
OFF OFF OFF OFF 15
User can use CAN bus to control up to 127 ZLIS42C series drivers at the same time. The
driver communication address is set with a 4-digit DIP switch. The address setting range
is 0-15, where address 0 is reserved by the system. 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 can select whether to incorporate a 120-terminal resistor through this bit.
According to the application, it is generally determined that only the master terminal
and the last slave need to connect a 120-ohm terminal resistor.
SW1 = OFF, invalid;
SW1 = ON, effective.
5. CANOPEN PROTOCOL
This chapter only gives a brief introduction to the related concepts and precautions that
are most commonly used during the use of ZLIS42C, so that user can understand the
general usage of ZLIS42C series product in the shortest time.
5.1. Communication specifications followed by ZLIS42C
 Compliant with standards of CAN 2.0A
 Compliant with CANopen standard protocol DS 301 V4.02
Compliant with CANopen standard protocol DSP 402 V2.01
5.2. CANopen functional description
Object Dictionary
Object Dictionary (OD for short) is the core concept of CANopen. Every CANopen device
in the network has an object dictionary. Object dictionary is a set of ordered data
objects. These objects describe all the communication and device parameters of the
device, and determine its location in the object dictionary through a 16-bit index and an
8-bit subindex.
Message format
Driver address settingTerminal resistance setting

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As the application layer protocol of CAN bus, CANopen protocol mainly defines the
arbitration field (11 bits) and data field (maximum 8 bytes) in CAN message.
In CANopen protocol, it is stipulated that 11 arbitration bits are divided into the upper 4
bits of the function code (Function Code) and the lower 7 bits of the node address
(Node-ID), which is called COB-ID (Communication Object Identifier). The structure of
CANopen identifier is as follows:
※CANopen identifier format
The value of the Node-ID node address ranges from 1 to 127.
The ZLIS42C series driver supports the following types of CANopen messages:
PDO (Process Data Object) message
SDO (Service Data Object) message
NMT (Network Mana gement Object) message
SYNC(Synchronisation Object) message
EMCY(EmergencyObject) message
Command Word
Command Function Type Data length
2F Set M->S Request 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 S->M Answer 2 byte
47 Read feedback S->M Answer 3 byte
43 Read feedback S->M Answer 4 byte
80 Error S->M Answer 4 byte
The following table is the function codes of various messages predefined in the
communication sub-protocol CiA301 and the corresponding COB-ID.
※Function code and COB-ID of communication objects
Broadcast object for CANopen predefined master / slave connection set
Object Function Code Node Address COB-ID Object Dictionary Index
NMT(Network
Management)
0000 0 0x000 -
Synchronization
Object
0001 0 0x080 1005h,1006h,1007h
Peer object of CANopen master / slave connection set
Object Function
Code
Node
Address
COB-ID Object Dictionary
Index
Emergency 0001 1-127 0x081-0x0FF 1024h,1015h
PDO1(TX) 0011 1-127 0x181h-0x1FFh 1800h
PDO1(RX) 0100 1-127 0x201h-0x27Fh 1400h
PDO2(TX) 0101 1-127 0x281h-0x2FFh 1801h
PDO2(RX) 0110 1-127 0x301h-0x37Fh 1401h
PDO3(TX) 0111 1-127 0x381h-0x3FFh 1802h
PDO3(RX) 1000 1-127 0x401h-0x47Fh 1402h
PDO4(TX) 1001 1-127 0x481h-0x4FFh 1803h
PDO4(RX) 1010 1-127 0x501h-0x57Fh 1403h
SDO(TX) 1011 1-127 0x581h-0x5FFh 1200h
SDO(RX) 1100 1-127 0x601h-0x67Fh 1200h
Heart Beat 1110 1-127 0x701h-0x77Fh 1016h-1017h
Process Data Object (PDO)

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SDO protocol is used to operate on the object dictionary and process data with low
real-time performance. Data with high real-time performance requirements is usually
transmitted through PDO.
PDO communication method is based on a Producer / Consumer model. Data is sent
from one device (producer) to another device (consumer) or many other devices
(broadcast), and it is a transmission without acknowledgement, data transfer is limited
to 1 to 8 bytes. CANopen devices receive or send by describing 2 parameters of PDO:
Communication Parameter and Mapping Parameter.
ZLIS42C series driver supports 4 RPDO and 4 TPDO, and describes the communication
parameters and mapping parameters of each PDO communication port according to the
CiA301 subprotocol.
Service Data Object (SDO)
SDO message is mainly used to access the device's object dictionary to configure
devices in a CANopen network. SDO communication method is based on the
Client/Server model, that is, the message sent must be confirmed by the receiver. The
visitor is called Client, and the device where the object dictionary is accessed and
responds to read and write requests is called Server. The protocol stipulates that the
value of the read object dictionary 4ed is called Upload, and the value of the modified
parameter is called Download.
ZLIS42C series driver supports both of fast SDO protocol and ordinary SDO protocol
transmission modes as described in CiA301.
Network Management Object (NMT)
NMT(Network Management) is based on Master / Slaver structure. The master station
can control the state machine of the slave stations through NMT message. After the
CANopen device is powered on or reset, the device will 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 device
switches between different states according to the NMT message sent by the master.
Synchronization Object (SYNC)
SYNC(Synchronization object) provides a reference clock for the network to synchronize
devices in the network. SYNC belongs to the producer/consumer communication
relationship. SYNC object is sent by a SYNC producer, and all other devices in the
network can receive SYNC. Assuming that all devices in the network support the
synchronous PDO function, user can use SYNC to achieve simultaneous actions of
multiple devices. The COB-ID of SYNC message is 0x80, which has a high priority and
guarantees the normal transmission of SYNC. In addition, the SYNC message can contain
no data to reduce the data amount of SYNC message.
Emergency Object (EMCY)
The device can report its internal fault to CANopen network through the emergency
object EMCY. EMCY belongs to the producer/consumer communication model, and all
devices in the network can consume the message. EMCY message occupies all 8 bytes
of data. Among them, byte 0 and byte 1 are error codes, and the error codes
correspond to various types of errors that occur on the device. Byte 2 is the error
register, whose value is stored in the object dictionary 1001h, and corresponds to
various types of faults that occur in the device. The content of byte 3 to byte 7 is the
error domain defined by the manufacturer, which can be the specific fault type.
Through EMCY object, the master station can easily grasp the specific failure situation
of the slave station.
5.3. Driver control protocol CiA402
5.3.1 CiA402 state machine
CiA402 protocol defines a standard state machine for motion control devices. It also
defines various operating modes and their definitions in the object dictionary.
Standard state machine describes the state of the device and the possible control
sequences of the driver. Each step state represents a specific internal or external
behavior, and the state of the device determines which commands can be received.

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Driver state machine
※The corresponding description of each state of the state machine is as follows:
State Name Description
NOT READY TO SWITCH ON Low level power has been applied to the drive. The
drive is being initialized or is running self test. A brake, if
present, has to be applied in this state. The drive
function is disabled.
SWITCH ON DISABLED Drive initialization is complete. The drive parameters
have been set up. Drive parameters may be changed.
High voltage may not be applied to the drive. The drive
function is disabled.
READY TO SWITCH ON High voltage may be applied to the drive. The drive
parameters may be changed. The drive function is
disabled.
SWITCH ON High voltage has been applied to the drive. The power
amplifier is ready. 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
parameters may be changed.(This corresponds to
normal operation of the drive.)
QUICK STOP ACTIVE The drive parameters may be changed. The quick stop
function is being executed. The drive function is
enabled and power is applied to the motor.
FAULT REACTION ACTIVE The drive parameters may be changed. A non-fatal fault
has occurred in the drive. The quick stop function is
being executed. The drive function is enabled and
power is applied to the motor.
The driver state machine is controlled by bit0 ~ bit3, bit7 of the control word (object
6040h), as described in the following table:
※Control word switching status
Command Control Word State Switch
Bit7 Bit3 Bit2 Bit1 Bit0
Shutdown 0 X 1 1 0 2,6,8
Switchon 0 0 1 1 1 3
Switchon +Enable
operation
0 1 1 1 1 3+4
Disable voltage 0 X X 0 X 7,9,10,12
Quick stop 0 X 0 1 X 7,10,11
Disable Operation 0 0 1 1 1 5
Enable Operation 0 1 1 1 1 4,16
Fault reset X X X X 15
Bits marked as X are invalid
Each state in the state machine can be displayed by bit0 ~ bit3, bit5, bit6 of the status
word (object 6041h), as described in the following table:

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※Status word switching state
State Status word
Bit6 Bit5 Bit3 Bit2 Bit1 Bit0
Not ready to switch on 0 X 0 0 0 0
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Quick stop active 0 0 0 1 1 1
Fault reaction active 0 X 1 1 1 1
Fault 0 X 1 0 0 0
Bits marked as X are invalid
5.3.2 Control word and status word
The start and stop control instruction and status description of the driver are mainly
implemented through the control word 6040h and status word 6041h. Therefore, the
skilled use of the control word and status word is very necessary. The following table
briefly describes the definition of each bit of control word and status word.
Control
word
Common
Command
Function Description
6040h
00 Initialization step 0: the state of the lower 4 bits of 6041 is 0000,
the motor is released;
06 Initialization step 1: the state of the lower 4 bits of 6041 is 0001,
the motor is released;
07 Initialization step 2: the state of the lower 4 bits of 6041 is 0011,
the motor 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 motion of position mode (6061 = 1), start command;
4F->5F In relative motion of position mode (6061 = 1), start command.
Status word Bit definition Function Description
6041h
Bit0~Bit3
6040=0: xxxx xxxx xxxx 0000
6040=6: xxxx xxxx xxxx 0001
6040=7: xxxx xxxx xxxx 0011
6040=F: xxxx xxxx xxxx 0111
Bit7 0: The driver is normal;
1: Driver alarm;
Bit8 0: Homing is not completed;
1: Homing has been completed;
Bit11 0: Bit4 state of 6040h is 0;
1: Bit4 state of 6040h is 1;
Bit13 0: Motor release;
1: Motor is enabled;
Bit14 0: The motor is stopped;
1: The motor is running;
Bit15 0: Motion is not in place in position mode;
1: Motion is in place in position mode.
Eg: initialize the driver after power-on, and enter the normal working state after
initialization. This operation is generally performed after power-on.
Master Station Slave Station Slave Station Status Word
00: 01 00 NMT Initialize NMT Initialize
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0000
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0001
601:2B 40 60 00 07 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0011
601:2B 40 60 00 0F 00 00 00 581:60 40 60 00 00 00 00 00 6041: xxxx xxxx xxxx 0111
5.3.3 Working Mode
CANopen sets the driver working mode through the object 6060h
(Modes_of_operation), and reflects the current working mode status of the driver

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through the object 6061h (Modes_of_operation_display). ZLIS42C series driver
currently supports 3 working modes: Profile Position Mode, Profile Velocity Mode,
Homing Mode.
※Driver working mode
Index Sub-
Index
Name Type Attribu
te
PDO
Mapping
Parameter Range Default
6060h 00 Modes_of
_operation
I8 RW NO
0: Undefined
1: Profile Position
Mode
2: Profile Velocity
Mode
6: Homing Mode
0
5.3.4 Position Mode
Work process description
The position mode is realized by S-shaped acceleration and deceleration curve. User can
set the initial speed (address 200E0010h), maximum speed (address 60810020h),
acceleration time (address 60830020h), deceleration time (address 60840020h), and
total pulse number (address 607A0020h) to achieve precise position control via the bus.
The 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
before it accelerates to the maximum speed (that is, the motor does not accelerate to
the maximum speed set by the user during actual operation). The speed curve is shown
in the figure below. The solid line in the figure shows the actual running curve of the
motor, and the dotted line is the curve that motor needs to run, to accelerate to the set
maximum speed. The theoretical total pulse number is the minimum total pulse
number calculated according to the user-set parameters (initial speed, maximum speed,
acceleration time, deceleration time). When the total pulse number set by the user is
less than the theoretical total pulse number, the motor will run as shown by the solid
line in the figure.
Position mode acceleration/deceleration curve (not accelerated to the set maximum speed)
※Related Object Dictionary Content
Index Sub-
Index
Name Typ
e
Attribute Parameter Range Set
6060h 00 Modes_of_operation I8 RW 0,1,3,6 1
607Ah 00 Target_position I32 RW -1000000~1000000 3200
200Eh 00 Initial Speed U32 RW 2-300 r/min 5 r/min
6081h 00 Profile_velocity U32 RW 5-3000 r/min 120

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r/min
6083h 00 Profile_acceleration U32 RW 0-2000ms 100ms
6084h 00 Profile_deceleration U32 RW 0-2000ms 100ms

Control word and status word
The control word in position mode is controlled by bit4 ~ bit6, bit8:
Byte Name Function Description
Bit4 New set-point 0: No assumed target position;
1: Assumed target position;
Bit5 Change set immediately 0: Complete the current position and then start
the next position;
1: Interrupt the current position and start the
next position;
Bit6 ABS/REL 0: The target position is an absolute value
1: The target position is a relative value
Bit8 Halt 0: Terminate current position
1: Set deceleration to stop
Note: According to the above table , the control word of absolute position motion
command is 0x0F-> 0x1F, and the control word of relative position motion command
is 0x4F-> 0x5F.
※Bit10, Bit12, Bit15 of status word show the driver status
Byte Name Function Description
Bit10 Target reached 0: Halt = 0 target position has not been reached;
Halt = 1 motor is decelerating;
1: Halt = 0 reach the target 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 run relatively based on the parameters (acceleration time 100ms,
deceleration time 100ms, maximum speed 60r / min, total pulse number 3200).
※Assume that the slave station number of the driver is 1. CANopen instruction control
is described in the following table:
Master Station Slave Station Function Description
00：01 00 (According to PDO mapping
situation)
NMT Initialize
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 Initialize the driver state
machine
601:23 83 60 00 64 00 00 00 581:60 83 60 00 00 00 00 00 Set acceleration time to
100ms
601:23 84 60 00 64 00 00 00 581:60 84 60 00 00 00 00 00 Set deceleration time to
100ms
601:23 81 60 00 3C 00 00 00 581:60 81 60 00 00 00 00 00 Set maximum speed 60r
/ min
601:23 7A 60 00 80 0C 00 00 581:60 7A 60 00 00 00 00 00 Set the total pulse
number 3200
601:2F 60 60 00 01 00 00 00 581:60 60 60 00 00 00 00 00 Switch work mode
01 Position mode
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 Switch the driver state
machine
(Refer to 402 protocol)
601:2B 40 60 00 07 00 00 00 581:60 40 60 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 4F 00 00 00 581:60 40 60 00 00 00 00 00 Send relative motion
command 1
601:2B 40 60 00 5F 00 00 00 581:60 40 60 00 00 00 00 00 Send relative motion
command 2
5.3.5 Speed Mode
Working Process Description

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The acceleration curve under speed mode is shown in the figure below. Differ from
position mode, speed mode only needs to set 3 parameters: initial speed (address
200E00h), target speed (address 608100h), acceleration time (address 608300h). After
the motor accelerates to the maximum speed according to set 3 parameters , it will run
uniformly at the maximum speed.
Speed mode acceleration curve
※Related Object Dictionary Content
Index Sub-
Index
Name Typ
e
Attribute Parameter
Range
Set
6060h 00 Modes_of_operation I8 RW 0,1,3,6 3
200Eh 00 Initial Speed U16 RW 2-300 r/min 5 r/min
60FFh 00 Target_velocity I32 RW -3000 r/min
~3000 r/min
120
r/min
6083h 00 Profile_acceleration U32 RW 0-2000ms 100ms
6084h 00 Profile_deceleration U32 RW 0-2000ms 100ms
Control word and status word
※Control word in speed mode is controlled by bit8
Byte 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 been reached;
Halt = 1 motor is decelerating;
1: Halt = 0 reach target speed;
Halt = 1 motor speed is 0;
Bit12 Speed 0: Speed is not 0;
1: Speed is 0.
Example
Make the motor run based on the parameters (acceleration time 100ms, deceleration
time 100ms, maximum speed 60r / min).
※Assume that the slave station number of the driver is 1. CANopen instruction control
is described in the following table:
Master Station Slave Station Function Description
00：01 00 (According to PDO mapping
situation)
NMT Initialize
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 Initialize the driver state
machine
601:23 83 60 00 64 00 00 00 581:60 83 60 00 00 00 00 00 Set acceleration time to
100ms
601:23 84 60 00 64 00 00 00 581:60 84 60 00 00 00 00 00 Set deceleration time to
100ms
601:23 FF 60 00 3C 00 00 00 581:60 81 60 00 00 00 00 00 Set target speed 60rpm
601:2F 60 60 00 03 00 00 00 581:60 60 60 00 00 00 00 00 Switch work mode
03 Speed mode
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 Switch the driver state
machine
(Refer to 402 protocol)
601:2B 40 60 00 07 00 00 00 581:60 40 60 00 00 00 00 00
601:2B 40 60 00 0F 00 00 00 581:60 40 60 00 00 00 00 00

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5.3.6 Homing Mode
Working Process Description
In homing mode, the origin signal needs to be connected to the input terminal of driver,
and the search and position fix of the mechanical home position is completed inside the
driver.
At the same time, the value of the working mode object 6060h needs to be set to 6.
When the register of the working mode status object 6061h is read as 6, the related
operation of the HM working mode can be performed. The objects involved in this
mode are as follows:
※Related Object Dictionary Content
Index Sub-
Index
Name Typ
e
Attribu
te
Parameter Range Set
6060h 00 Modes_of_operat
ion
I8 RW 0,1,3,6 6
6098h 00 Homing_method U8 RW
17: Negative limit mode;
18: Positive limit mode;
24: Forward 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
02 Homing_speeds_
Speed_during_se
arch_for_zero
U32 RW 0-3000 r/min 60
r/min
609Ah 00 Homing_accelerat
ion
U32 RW 0-2000ms 100ms
607Ch 00 Home_offset I32 RW -0x7FFFFFFF
～0x7FFFFFFF 0
Currently the driver supports 6 homing modes:
1) 6098h = 01: Look for the positive limit signal in the positive direction. After
encountering the positive limit signal, decelerate to stop and retreat for a certain
distance, then look for the origin at a slow speed in reverse direction. After finding it,
stop and the homing operation is completed.
2) 6098h = 02: Look for the negative limit signal in the reverse direction. After
encountering the negative limit signal, decelerate to stop and retreat for a certain
distance, then look for the origin at a slow speed in reverse direction. After finding
it, stop and the homing operation is completed.
3) 6098h = 17: Look for positive limit signal in the positive direction. After
encountering the positive limit signal, decelerate to stop and retreat for a certain
distance, then search for the positive limit signal in the reverse direction at a slow
speed. Stop after finding it and the homing operation is completed. If the motor
runs in the reverse direction, the negative limit is valid, the machine stops
immediately, and the homing fails.

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4) 6098h = 18: Look for the negative limit signal in the reverse direction. After
encountering the negative limit signal, decelerate to stop and retreat for a certain
distance, and then search for the negative limit signal in the reverse direction at a
slow speed. Stop after finding it and the homing operation is completed. If the
motor runs in the forward direction and the positive limit is valid, it will
immediately stop and fail to return to the origin.
5) 6098h = 24: Find the origin in the opposite direction. When the origin is
encountered, it will decelerate to stop and go back a distance. Then it will find the
origin in the reverse direction at a slow speed. When an inverse limit is encountered
during homing, the reverse movement continues to search for the origin. If the
motor runs in the forward direction and the positive limit is valid, it will
immediately stop and fail to return to the
origin.
6) 6098h = 29: Find the origin in the positive direction. After encountering the
origin, decelerate and stop, and then find the origin in a slow forward direction.
Stop after finding it and the homing operation is completed. When the positive
limit is encountered 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.
The 609901h object is the origin search speed, and the 609902h object is the origin
search speed. The lower the value of 6009902h, the higher the search accuracy. In
addition, if you need to set the origin position to a position away from the
mechanical origin, you can set the origin offset by 607Ch carry out.

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Control word and status word
※The control word in homing mode is controlled by bit4, bit8
Byte Name Function Description
Bit4 Homing operation start
0: Zero return mode is not active
01: Start zero return mode
1: Home mode is activated
1 0: Interrupt return to zero mode
Bit8 Halt 0: Perform Bit4 exercise
1: Stop motion with zero return acceleration
Note: According to the table above, the control word is sent as 0x0F-> 0x1F.
※Bit8 and Bit10 of status word show the driver status:
Byte Name Function Description
Bit8 Homing attained 0: Zero return mode is not completed
1: Zero return mode is complete
Bit10 Target reached 0: Halt = 0 The home position is not reached;
Halt = 1 motor deceleration;
1: Halt = 0 reached zero position;
Halt = 1 motor speed is 0;
Eg:
Finish the work of returning to the origin. Select the forward limit + origin mode to
return to the origin. The return speed is 120r / min. The return speed is 60r / min.
The acceleration / deceleration time is 100ms. The origin is not compensated.
※Assuming the slave station number of the drive is 1, the CANopen command
control is described in the following table:
Master Station Slave Station Function Description
00：01 00 (Depending on PDO mapping
conditions)
NMT Initialization
601:2B 40 60 00 00 00 00 00 581:60 40 60 00 00 00 00 00 Initialize the driver state
machine
601:2F 98 60 00 12 00 00 00 581:60 98 60 00 00 00 00 00 Positive limit mode
601:23 99 60 01 78 00 00 00 581:60 99 60 01 00 00 00 00 Home speed 120r/min
601:23 99 60 02 3C 00 00 00 581:60 99 60 02 00 00 00 00 Return to origin query speed
60r/min
601:23 9A 60 00 64 00 00 00 581:60 9A 60 00 00 00 00 00 Set the deceleration time to
100ms
601:2F 60 60 00 06 00 00 00 581:60 60 60 00 00 00 00 00 Switch work mode
06 Return to origin mode
601:2B 40 60 00 06 00 00 00 581:60 40 60 00 00 00 00 00 Switching the drive state
machine
(Refer to 402 protocol)
601:2B 40 60 00 07 00 00 00 581:60 40 60 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 ZLIS42C series bus type stepper motor driver parameter register includes three
parts, namely 1000h ~ 1FFFh register defined by CIA301, 2000h ~ 2FFFh register defined
by the manufacturer and 6000h ~ 6FFFh register defined by CIA402.
1000h ~ 1FFFh registers are basic parameters of CANopen related parameters defined
by CIA301, including SDO, PDO, and mapping registers;
The 2000h ~ 2FFFh register is a manufacturer-defined register content, including
subdivision and current modification can be implemented within this group of
parameters;
6000h ~ 6FFFh registers are motion parameters related to motion control defined by
CIA402, including position mode, speed mode, return-to-origin mode and other
working mode registers and related motion parameter registers.
Index Sub-
index
Name Description Type Attribut
es
PDO
mapping
Defaults
CiA301 Basic Communication Parameter Group
1000h 00 Device Type This device supports U32 RO NO 0X0004

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CiA301, CiA402
protocol
0192
1001h 00 Error Register Driver current error
status
U8 RO NO 0
1005h 00 COB ID SYNC COB identifier of
synchronization
message
U32 RW NO 0x80
1009h 00 Manufacturer
Hardware Version
Hardware version U16 RO NO -
100Ah 00 Manufacturer
Software Version
Software version U16 RO NO -
1014h 00 COB ID EMCY EMNC Emergency
Message COB
U32 RW NO 0x80
1017h 00 Producer
Heartbeat Time
Producer heartbeat
interval, unit: ms
U16 RW/S NO 0
1018h 00 Number of entries Number of entries U8 RO NO 5
01 Vendor Id Vendor ID U32 RO NO 0x0100
02 Product Code
Supplier Product
Number
U32 RO NO 0x0001
1200h 00 Number of entries Number of entries U8 RO NO 2
01 COB ID Client to
Server
COB ID Client to
Server
U32 RO NO 600h+N
ode-ID
02 COB ID Server to
Client
COB ID Server to
Client
U32 RO NO 580h+N
ode-ID
1400h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO0 COB ID U32 RO NO 200+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1401h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO1 COB ID U32 RO NO 300+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1402h 00 Number of entries
Number of
sub-indexes
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/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1403h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID RPDO3 COB ID U32 RO NO 500+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1600h 00 Number of entries Number of entries U8 RO NO 1
01
PDO Mapping
Entry
Map to 6040h register U32 RW/S NO 604000
10h
02
PDO Mapping
Unmapped U32 RW/S NO -

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Entry_2
03
PDO Mapping
Entry_3
Unmapped
U32 RW/S NO -
04
PDO Mapping
Entry_4
Unmapped
U32 RW/S NO -
1601h 00 Number of entries Number of entries U8 RO NO 0
01
PDO Mapping
Entry
Unmapped
U32 RW/S NO -
02
PDO Mapping
Entry_2
Unmapped
U32 RW/S NO -
03
PDO Mapping
Entry_3
UnmappedU32 RW/S NO -
04
PDO Mapping
Entry_4
Unmapped U32 RW/S NO -
1602h 00 Number of entries Number of entries U8 RO NO 0
01
PDO Mapping
Entry
Unmapped
U32 RW/S NO -
02
PDO Mapping
Entry_2
Unmapped
U32 RW/S NO -
03
PDO Mapping
Entry_3
Unmapped U32 RW/S NO -
04
PDO Mapping
Entry_4
Unmapped
U32 RW/S NO -
1603h 00 Number of entries Number of entries U8 RO NO 0
01
PDO Mapping
Entry
Unmapped
U32 RW/S NO -
02
PDO Mapping
Entry_2
Unmapped
U32 RW/S NO -
03
PDO Mapping
Entry_3
Unmapped U32 RW/S NO -
04
PDO Mapping
Entry_4
Unmapped
U32 RW/S NO -
1800h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID TPDO0 COB ID U32 RO NO 180+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1801h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID TPDO1 COB ID U32 RO NO 280+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1802h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID TPDO2 COB ID U32 RO NO 380+No
de-ID
02 Transmission Type Transmission Type U8 RW/S NO FFh
03 Inhibit Time Inhibit Time U16 RW/S NO 0
04 Compatibility
Entry
Compatibility Entry U8 RW NO 0
05 Event Timer Event Timer U16 RW/S NO 0
1803h 00 Number of entries
Number of
sub-indexes
U8 RO NO 5
01 COB ID TPDO3 COB ID U32 RO NO 480+No
de-ID