Leadshine Technology EM2RS Series - Appendix A Parameters List; Modbus RTU Parameters

EM2RS Modbus RS485 Stepper Drive User Manual
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Appendix A Parameters List
1. Modbus RTU Parameters
The Leadshine RS485 parameter data type is 32-bit data, and a parameter contains two registers, high 16 bits and low 16 bits,
but in practice most parameters only need to use the low 16 bits. When reading and writing multiple parameters in succession,
the high 16 bits of the parameter need to be used as the start.
Register
Address
Software
Parameter
No.
Name
Description
Range
Default
Value
Unit
0x0001
Pr0.00
Pulse/revolution
10000
200-51200
10000
P/R
0x0005
Pr0.02
Control mode source
Invalid
0-10
1
--
0x0007
Pr0.03
Motor direction
0:CW
1:CCW
0-1
0
--
0x0009
Pr0.04
Motor inductance
Invalid
0-10000
1499
0.001mH
0x00F
Pr0.07
Forced enable by software
Software forced enable has a higher priority than
IO enable, and when this value is 0, the enable
status of the drive only depends on the IO signal.
When this value is 1, the motor is enabled
regardless of the IO signal status.
0-1
0
--
0x00A1
Pr2.00
Command filter time
To configure the time for internal command
filtering
0-512
15
0.1ms
0x0145
Pr4.02
SI1(input 1)
Default is normal-open(N.O) type, it can be set to
normal-closed(N.C) type by setting the
corresponding port +0x80
SI1 is enable(default), N.C type input.
0: invalid; 7: alarm clearing;
8: enable (also can be set by 0x00F);
0x20: Trigger command;
0x21: Trigger homing;
0x22: EMG (quick stop);
0x23: JOG+;
0x24: JOG-;
0x25: POT (positive limit);
0x26: NOT (negative limit);
0x27: ORG (home switch);
0x28: ADD0 (path address 0);
0x29: ADD1 (path address 1);
0x2A: ADD2 (path address 2);
0x2B: ADD3 (path address 3);
0x2C: JOG velocity 2
0-65535
136
(0x88)
--
0x0147
Pr4.03
SI2(input 2)
0-65535
0
--
0x0149
Pr4.04
SI3(input 3)
0-65535
0
--
0x014B
Pr4.05
SI4(input 4)
0-65535
0
--
0x014D
Pr4.06
SI5(input 5)
0-65535
0
--
0x014F
Pr4.07
SI6(input 6)
0-65535
0
--
0x0151
Pr4.08
SI7(input 7)
0-65535
0
--
0x0157
Pr4.11
SO1(output 1)
Default is normal-open(N.O) type, it can be set to
normal-closed(N.C) type by setting the
corresponding port +0x80
0: invalid;
0x20: command completed;
0x21: path completed;
0x22: homing completed;
0x23: in-position completed;
0x24: brake output;
0x25: alarm output;
0-65535
0
--
0x0159
Pr4.12
SO2(output 2)
0-65535
0
--
0x015B
Pr4.13
SO3(output 3)
0-65535
0
--
0x0167
Pr4.19
Delay of brake released
Keep default normally
0-1500
250
ms
0x0169
Pr4.20
Delay of brake locked
Keep default normally
0-1500
250
ms
0x016B
Pr4.21
Threshold value of brake
locking velocity
Keep default normally
0-500
10
--
0x016D
Pr4.22
Alarm detection selection
Bit setting:
=1: Yes; =0: No
bit0: over-current ( Cannot be changed)
bit1: over-voltage
bit3: ADC sampling failure
bit4: Locked shaft alarm
bit5: EEPROM alarm
bit6: Auto-tuning alarm
0-65535
0
--
0x0177
Pr4.27
Bus voltage
0-65535
0
0.1V
0x0179
Pr4.28
Digital input statue
Bit0-Bit6: SI1-SI7
0-65535
0
--
0x017B
Pr4.29
Digital output statue
Bit0-Bit2: SO1-SO3
0-65535
0
--
0x0187
Pr4.35
DIP switches statue
0-65535
0
--
0x0191
Pr5.00
Peak current
Approximately equal to motor phase current value
multiplied by 1.4
522: 0-22
556: 0-56
870: 0-70
882: 0-82
10
0.1A