Leadshine ELD2 Series - Test Pr-Mode with Serial Debugging Assistant

75
UserManualforELD2Servo
Please refer to parameter specification for specific data setting.
7.4.5 Test Pr-Mode with Serial debugging assistant
Disconnect and close the debugging software，Test PR mode with Serial debugging assistant software
Pr-Mode communication trigger function description
7.4.5.1 Fixed trigger mode
Fixed trigger mode is to config no more than 16 segments homing and path. Then, replace
CTRG and HOME with Pr8.02(trigger register) to start the operation path. This mode apply to
fixed motion and simple operation system.
As below procedure：
1. Firstly, configure homing and path 0~ path 15 which need to run, can transmit parameter
configuration temporarily after power on, also can configured to save with upper computer.
2. Enable drive.
3. Implement choice and start of actions by write corresponding instructions into 0x6002 (Pr8.02)
Write 0x01P, P segment positioning (write 0x010 to run path 0, write 0x013 to run path 3)
Write 0x020, Homing
Write 0x021, current position manual set to zero.
Write 0x040, E-stop.
Read 0x000p, means positioning accomplished, can receive new data
Read 0x01P, 0x020, 0x040 means still does not response to instructions.
Read 0x10P, means path is running.
Read 0x200, means instruction accomplished and wait for positioning.
7.4.5.2 Immediately trigger method
Fixed trigger is limited by 16 segment position, but immediately trigger method is flexible. It is
written to the current path at each time, at the same time trigger the operation of this path. Realize
position, speed , homing and such actions by a data frame.
This method adopt PR0 to implement, PR0 has 8 data in total, the last data Pr9.07 of it will mapped
to Pr8.02, write in 0x10 can trigger PR0 operation immediately, realize data trigger running
immediately.
Operating steps:
1. Firstly, configure homing and path which need to run, can power on and send parameter
configuration temporarily, also can configure and save with upper computer. (homing must be
configured)
2. Enable drive.
3. Operate fixed path by Pr8.02
4. write in immediate data by Pr9.00-9.07, and Pr9.07=0x10, implement immediately running path 0.
Demonstrate with immediately trigger method
An example of MODBUS communication frame format operation is shown below:
Order sending orders （Master->Slave） return command (Slave->Master）
1
ID
Sub-station No.
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
Data quantity Word
0x00
NUM
Actually written data
quantity
0x00
6
0x08
0x08
7
NUM2
Data quantity Byte
0x10
CRC
Check code
Lo
Hi