Leadshine CS2RS-D503 - Page 61

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual
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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
-
-
--
0x2203
-
Current alarm
Read only
Error code
Means
0x01
Over- current
0x02
Over- voltage
0x40
Current sampling fault
0x80
Failed to lock shaft
0x200
EEPROM fault
0x100
Auto-tuning fault
-
-
--
2. PR Parameters:
PR parameter data type is 16-bit data, one parameter occupies one register (one 16-bit register = 2 8-bit bytes).
Parameter NO.
in PC software
Register Address
Name
Description
Pr8.00
0x6000
PR global control function
Bit0: CTRG effective edge. 0--rising edge, 1--double edges
Bit1: Soft limit.. 0--disable, 1--enable
Bit2: Homing after power on. 0--no, 1--yes
Bit4: CTRG trigger type. 0--refer to bit0, 1--level trigger
Pr8.02
0x6002
PR control register
(1) Write commands to 0x6002 to select and trigger each action:
Write 0x1P (“P” = 0-15 ), run the path P motion;
Write 0x20, homing;
Write 0x21, manually set to zero position;
Write 0x40, quick stop;
(2) Read 0x6002 can check the running path NO. and status:
Return “0x000P”, path P motion complete, can receive new motion command;
Return “0x001P or 0020 or 0040”, not yet responding to commands;
Return 0x010P, path P motion is running;
Return 0x0200, command completed and waiting for positioning;
Return 0x020P, a position following error during path P;
Pr8.06
0x6006
Limit+ H
Soft limit positive high bits
Pr8.07
0x6007
Limit+ L
Soft limit positive low bits
Pr8.08
0x6008
Limit- H
Soft limit negative high bits
Pr8.09
0x6009
Limit- L
Soft limit negative low bits
Pr8.10
0x600A
Homing mode
Bit0: homing direction, 0--CW, 1--CCW;
Bit1: Whether to move to the specified position after homing, 0--no, 1--yes;
Bit2- bit3: homing method, 00--limit switch homing, 01--home switch homing,
10--Z signal homing
Note:
(1) Write 0x21 to 0x6002, manually set the current point to zero position)
(2) Other methods are not valid