StepperOnline CL57RS User Manual

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CLRS Series RS485 Closed Loop Stepper Drive User Manual
5.5.4 Immediate Trigger
The immediate trigger method means that each time the current path 0(PR0) is written, the run of PR0 is triggered
in real time. The position & velocity& homing and so on are achieved through one data frame. This method uses
PR0 to implement, which has 8 data, the last parameter Pr9.07 is mapped to Pr8.02, writing value 0x10 to it will
trigger PR0 motion immediately, thus realizing the immediate trigger operation.
Order
Sending message (Master->Slave)
Return message (Slave->Master)
1
ID
Slave ID.
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
Number of Word
0x00
NUM
Actually written
Number of
0x00
6
0x08
0x08
7
NUM2
Number of Byte
0x10
CRC
check code
Lo
Hi
8-9
Pr9.00
Mode
XXXX
10-11
Pr9.01
High position
XXXX
12-13
Pr9.02
Low position
XXXX
14-15
Pr9.03
velocity
XXXX
16-17
Pr9.04
Acceleration
XXXX
18-19
Pr9.05
Deceleration
XXXX
20-21
Pr9.06
Delay time
XXXX
22-23
Pr9.07
Trigger control
0x0010
24
CRC
Check code
Lo
25
Hi
For example:
PR0: velocity 200 rpm, distance 10000 p
Master sending: 07 10 62 00 00 08 10 00 01 00 00 27 10 00 00 27 10 27 10 00 00 00 10 8D 50
Drive return: 07 10 62 00 00 08 DE 11

StepperOnline CL57RS Specifications

General

Brand	StepperOnline
Model	CL57RS
Category	DC Drives
Language	English