Leadshine CS2RS-D503 - Page 50

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual
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The position & velocity& homing and so on are achieved through one data frame. This method uses PR0 to implement, which
has 8 data, the last parameter Pr9.07 is mapped to Pr8.02, writing value 0x10 to it will trigger PR0 motion immediately, thus
realizing the immediate trigger operation.
Order
Sending message (Master->Slave)
Return message (Slave->Master)
1
ID
Slave ID.
0-31
ID
Sub-station No.
0-31
2
FC
Function code
0x10
FC
Function code
0x10
3
ADDR
Address
0x62
ADDR
Address
0x62
4
0x00
0x00
5
NUM1
Number of Word
0x00
NUM
Actually written
Number of
0x00
6
0x08
0x08
7
NUM2
Number of Byte
0x10
CRC
check code
Lo
Hi
8-9
Pr9.00
Mode
XXXX
10-11
Pr9.01
High position
XXXX
12-13
Pr9.02
Low position
XXXX
14-15
Pr9.03
velocity
XXXX
16-17
Pr9.04
Acceleration
XXXX
18-19
Pr9.05
Deceleration
XXXX
20-21
Pr9.06
Delay time
XXXX
22-23
Pr9.07
Trigger control
0x0010
24
CRC
Check code
Lo
25
Hi
For example:
PR0: velocity 200 rpm, distance 10000 p
Master sending: 07 10 62 00 00 08 10 00 01 00 00 27 10 00 00 27 10 27 10 00 00 00 10 8D 50
Drive return: 07 10 62 00 00 08 DE 11