R110PLUS USER MANUAL
7.1 Communication control mode
In this mode, the user can make the motor run the specified pulse stroke or jog operation by
communicating the given operation command.
In internal pulse mode, the motor is controlled by register 18
0：Waiting state.
The driver receives any control command and will resume the waiting state after the driver processes it.
So reading this register always returns 0.
1：Fixed length forward rotation.
In the relative position mode, the motor runs in the forward direction according to the 70～74 register
parameters.
In the absolute position mode, the operation state is determined according to the current position and
the absolute position set by 70～74.
2：Fixed length reverse rotation.
In the relative position mode, the motor runs in the reverse direction based on the 70～74 register
parameters.
In the absolute position mode, the operation state is determined according to the current position and
the absolute position set from 70 ～ 74.
3：Speed mode, continuous forward rotation.
According to 75 and 76 registers, the motor runs at forward acceleration.
4：Speed mode, continuous reverse.
According to 75 and 76 registers, the motor runs at reverse acceleration.
5：Emergency stop
According to the 77 register, the motor decelerates and stops.
6：Slow down and stop.
In position mode, the motor decelerates and stops according to the 71 register
In speed mode, the motor decelerates and stops according to the 76 register
Others: no effect.
7.1.1 Point control mode
The communication controls the function of the motor to run the specified pulse stroke. The specific
modes and parameters to be set are as follows (register addresses are not specified or specified as
decimal numbers):
(1) Set the value of register address 20 (preset application selection in internal pulse mode) to
0(Communication control, respond to the command of register address 18)
(2) Set the function of the digital input and output port according to the application requirements and the
actual wiring terminals;
(3) Set the motion parameters:
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