CLRS Series RS485 Closed Loop Stepper Drive User Manual
Relevant objects:
Deceleration time after quick stop, unit: ms
Write value 0x040---- E-stop;
5.4 PR Path
The PR path can be run with single segment movement or continuous movement, which includes three operation
modes: position mode, velocity mode and homing mode. There are 16 PR paths, and each path sets the
operation modes, the target position, the target velocity, the acceleration and deceleration and the pause time,
etc.
5.4.1 PR Parameters
Usually it is recommended using the PTP window of the STEPPERONLINE tuning software to configure the PR
path parameters, but it can also use the following objects:
The corresponding functions can be selected for different
bit
Bit0-3: Operation mode
=0---- no action
=1---- position mode
=2---- velocity mode
=3---- homing mode;
Bit4: INS,
=0---- No interrupt
=1---- interrupt(all the current ones are 1.);
Bit5: OVLP,
=0---- Non overlapping
=1---- Overlapping
Bit6:
=0----absolute position
=1----relative position
Bit8-13: Jump to the corresponding PR path 0-15;
bit14: JUMP,
=0---- No jump
=1---- jump
Pause time after the command is stopped
PR Path 0 maps directly to Pr8.02, Others are reserved
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