7.3 Drive Conguration and Status Register
Drive configuration such as commnad input mode (RS232, CW/CCW etc.), alarm status, busy status are de-
scribed by the two register Config and Status which are stored inside Drives EEPROM and can be read or set
through RS232 communication.
█ Drive Status
Driver status is a byte data, lower 7 bit valid for indicating the Drive status, is it in the state of servo, alarm, on
position, or free.
Status = x b6 b5 b4 b3 b2 b1 b0
b0 = 0 : On position, i.e. |Pset - Pmotor| < = OnRange
b0 = 1 : motor busy, or |Pset - Pmotor|> OnRange
b1 = 0 : motor servo
b1 = 1 : motor free
b4 b3 b2 = 0 : No alarm
1 : motor lost phase alarm, |Pset - Pmotor|>8192(steps), 180(deg)
2 : motor over current alarm
3 : motor overheat alarm, or motor over power
4 : there is error for CRC code check, refuse to accept current command
5~ 7 : TBD
b5 = 0 : means buit in S-curve, linear, circular motion completed; waiting for next motion
b5 = 1 : means buit in S-curve, linear, circular motion is busy on current motion
b6 : pin2 status of JP3,used for Host PC to detect CNC zero position or others
█ Drive Configuration
Drive conguration for communication mode, servo mode etc is expressed by Cong.
Config = x b6 b5 b4 b3 b2 b1 b0
b1 b0 = 0 : RS232 mode
1 : CW,CCW mode
2 : Pulse/Dir or (SPI mode Optional)
3 : Anlog mode
b2 = 0 : works as relative mode(default) like normal optical encoder
b2 = 1 : works as absolute position system, motor will back to absolute zero or POS2(Stored in
sensor) automatically after power on reset.
b4 b3 = 0 : Position servo as default
1 : Speed servo
2 : Torque servo
3 : TBD
b5 = 0 : let Drive servo
b5 = 1 : let Drive free, motor could be turned freely
b6 : TBD
The default Config = x0000000, RS232 communication mode, absolute position sensor works as relative mode,
position servo, servo enabled. If the bit 5 of Config register is set to be 1, Drive will let motor shaft free (servo
disabled).
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