Leadshine ELD2-RS70 Series - Communication Control Mode

User Manual for ELD2 Servo
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73
7.4 Communication control mode
Communication control mode can realize same function as IO operation, Can flexible modify parameters
and trigger action to run, can control more than one operation by field bus, save the wiring and good
flexibility. Communications control includes two modes: Fixed trigger mode and immediately trigger mode.
7.4.1 Parameters setting
Parameters
Name
Specification
Pr0.01
Control Mode Setup
Set Pr0.01=0 for Pr-Mode
Pr4.02
DI3 Input selection
Set 83 for internal SERVO-ON
Pr5.29
Communication mode
RS485 Communication mode selection，set 21 to select Modbus
protocol. Don't need to change.
For ELD2 485 communication , no need to change 21 to 53 ！
For ELD5 485 communication , no need to change 21 to 53 ！
For EL5 485 communication , need to change 21 to 53
For ELP 485 communication , need to change 21 to 53
Pr5.30
Communication baud
rate
Setting
value
Baud rate
Setting
value
Baud rate
0
2400bps
4
38400bps
1
4800bps
5
57600bps
2
9600bps
6
115200bps
3
19200bps
Baud rate deviation is 2400~38400bps±5%,
57600~115200bps±2%
Pr5.31
Device No.
Modbus sub-station address number(Slave ID) .
Pr8.02
PR trigger
（16bit，485 address..0x6002）
Write 0x01P，P section positioning Write 0x020，homing
Write 0x021，The current location manually set to zero.
Write 0x040，e-stop
Read 0x000p，means positioning completed, can receive new data .
Read 0x01P、0x020、0x040 Means still no responding to commands.
Read 0x10P ， means path is running.
Read 0x200， means instructions completed and wait for positioning.
Communication address mapping of Pr-Mode
485 address
Parameter
Name
Specification
0x6000
Pr8.00
PR control setup
HEX
0x6002
Pr8.02
PR control register
HEX