Leadshine CS2RS-D503 - Page 27

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual
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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
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
bit2: Position following error
bit3: ADC sampling failure
bit4: locked shaft alarm
bit5: EEPROM alarm
bit6: auto-tuning alarm
0-65535
0
--
0x0171
Pr4.24
Distance to send "In
Position" output signal
The distance (in number of pulses) to send out
the In-Position signal
0-1500
200
CPR
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 1.2 -1.4
503: 3-30
507: 5-70
1008: 5-80
503: 25
507: 60
1008: 80
0.1A
0x0193
Pr5.01
Percentage of holding
current in closed-loop
mode
It is recommended to keep default, If the torque
is not enough, it can be increased appropriately
0-100
50
%
0x0195
Pr5.02
Percentage of holding
current in open-loop mode
It is recommended to keep default, If the torque
is not enough, it can be increased appropriately
0-100
50
%
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
--