Leadshine CS2RS-D503 - Appendix A Parameters List

CS2RS Series Modbus RS485 Closed Loop 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
0x0003
Pr0.01
Control Mode
Value “0” for open loop;
Value “2” for closed loop;
Value “1” is reserved.
0-255
2
--
0x0007
Pr0.03
Motor direction
0: CW
1: CCW
0-1
0
--
0x0009
Pr0.04
Motor inductance
Invalid
0-10000
1499
0.001mH
0x000B
Pr0.05
Allowed max position
following error
It’s used to set the allowed max pulse count of
position errors.
0-65535
4000
CPR
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
--
0x0051
Pr1.00
Position loop Kp
Increase this value will reduce position following
error, but could result in motor vibration
0-3000
507:25
1008: 45
--
0x0053
Pr1.01
Velocity loop Ki
This parameter is used for tuning Velocity loop
proportional gain.
0-3000
3
--
0x0055
Pr1.02
Velocity loop Kp
Increase the value can increase velocity stiffness
0-3000
507: 25
1008: 45
--
0x0065
Pr1.10
Position loop KpH
Usually keep default
0-3000
0
--
0x00A1
Pr2.00
Command filter time
To configure the time for internal command
filtering
0-512
15
0.1ms
0x00A3
Pr2.01
Velocity switching point:
open loop to closed loop
Usually keep the default value.
Only change it when it causes motor vibration at
this mode switching velocity point.
0-200
18
0.1RPS
0x00A5
Pr2.02
Velocity switching point:
closed loop to open loop
Usually keep the default value.
0-200
12
0.1RPS
0x00A7
Pr2.03
Delay time of open loop to
closed loop
Usually keep the default value.
0-32767
5
ms
0x00A9
Pr2.04
Delay time of closed loop to
open loop
Usually keep the default value.
0-32767
250
ms
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
--