Leadshine Technology EM2RS Series - Page 59

EM2RS Modbus RS485 Stepper Drive User Manual
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0x0197
Pr5.03
Percentage of shaft locked
current(power on)
Keep default normally
0-100
100
--
0x0199
Pr5.04
Shaft locked duration
Keep default normally
0-1500
200
1ms
0x019F
Pr5.07
Rising time of shaft locked
current (power on)
Keep default normally
1-60
1
100ms
0x01A5
Pr5.10
The max stop time
Keep default normally
100-1000
1000
ms
0x01AB
Pr5.13
Auto-tuning at power on
0: disable, 1: enable
0-1
1
--
0x01BD
Pr5.22
RS485 baud rate
0: 2400 1: 4800 2: 9600 (default)
3: 19200 4: 38400(factory) 5: 57600
6: 115200
When SW6 and SW7 are all OFF, it can be set by
PC software.
0-6
4
--
0x01BF
Pr5.23
RS485 ID
When SW1 - SW5 are all ON, it can be set by PC
software
0-127
1
--
0x01C1
Pr5.24
RS485 data type selection
0: 8-bit data, even check, 2 stop bits;
1: 8-bit data, odd check, 2 stop bits
2: 8-bit data, even check, 1 stop bit;
3: 8-bit data, odd check, 1 stop bit:
4: 8-bit data, no check,1 stop bit:
5: 8-bit data, no check,2 stop bits;
0-11
4
--
0x01C3
Pr5.25
RS485 control word
0-32767
0
--
0x01C4
Pr5.26
Communication bit delay
0-100
35
bit
0x01D1
Pr5.32
Switching time to standby
10-65535
200
ms
0x01D3
Pr5.33
Standby current percentage
0-100
50
0x01E1
Pr6.00
JOG velocity
This JOG is triggered by RS485.
For JOG triggered by IO, please use Pr8.40/8.41
0-5000
60
r/min
0x01E3
Pr6.01
Interval
0-10000
100
ms
0x01E5
Pr6.02
Running times
0-30000
1
--
0x01E7
Pr6.03
Acc. / Dec. time
0-10000
200
--
0x01FF
Pr6.15
Version information
Read only
0-65535
0
--
0x0201
Pr6.16
Firmware information
Read only
0-65535
0
--
0x0231
Pr7.00
Motor model
Invalid
0-100
0
--
0x0235
Pr7.02
Back EMF coefficient
Invalid
0-32767
100
1ms
0x0237
Pr7.03
Current loop proportional KP
Invalid
0-3000
1500
--
0x0239
Pr7.04
Current loop KI
It is recommended to keep the factory value, when
disable auto-tuning, can be modified
0-1500
300
--
0x023B
Pr7.05
Current loop KP
0-1024
100
--
0x023D
Pr7.06
Current loop Kc
Invalid
0-32767
300
--
0x0243
Pr7.09
Over-voltage threshold
Invalid
0-1000
90
V
0x1003
-
Motion status
Read only:
Bit NO.
Read value =1 means
Bit0
Fault
Bit1
Enable
Bit2
Running
Bit4
Command completed
Bit5
Path completed
Bit6
Homing completed
-
--
0x1801
-
Control word
Write value
Function
0x1111
Reset current alarm
0x1122
Reset history alarm
0x2211
Save all parameters to EEPROM
0x2222
Parameter reset(exclude motor
parameters)
0x2233
All parameters are reset to
factory
0x2244
Save all mappings into
EEPROM
0x4001
JOG CW (Need to write once at
least 50ms)
0x4002
JOG CCW (Need to write once
at least 50ms)
-
-
--
0x1901
-
Save parameter status word
Read only
Read Value
Means
0x5555
Save successfully
0xAAAA
Failed to save
-
-
--