StepperOnline CL57RS

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4.1 Communication Specifications ................................................................................................ - 16 -

4.2 Modbus Function Codes (FC) ................................................................................................. - 16 -

4.2.1 Read Holding Registers FC= 03 ................................................................................... - 17 -

4.2.2 Preset Single Register FC= 06 ..................................................................................... - 18 -

4.2.3 Preset Multiple Registers FC= 10 ................................................................................. - 19 -

4.3 Modbus & PR Parameters .......................................................................................................- 20 -

4.3.1 Basic Parameters .......................................................................................................... - 20 -

4.3.2 Input and Output Parameters ........................................................................................- 23 -

4.3.3 Smooth Filter Time Setting for Digital Inputs ................................................................ - 23 -

4.3.4 Status Monitoring Parameters .......................................................................................- 25 -

4.3.5 Control Word and Status Word ..................................................................................... - 25 -

4.4 Error Codes and Troubleshooting ........................................................................................... - 26 -

4.4.1 Communication Error Codes .........................................................................................- 26 -

4.4.2 Drive Alarm Codes and Troubleshooting ...................................................................... - 26 -

4.4.3 Error Clear ..................................................................................................................... - 27 -

4.5 Register Mapping Continuous Read/Write Function ...............................................................- 28 -

4.6 S-code Application ................................................................................................................... - 29 -

4.7 Enable Drive .............................................................................................................................- 30 -

5 PR Mode (Indexer Table) ................................................................................................................. - 30 -

5.1 PR Main Features .................................................................................................................... - 30 -

5.2 Homing / Return to Zero Position ............................................................................................ - 31 -

5.2.1 Homing Parameters .......................................................................................................- 32 -

5.2.2. Homing by Home Switch ..............................................................................................- 32 -

5.2.3. Homing by Limit Switch ................................................................................................- 34 -

5.3 Soft Limit & JOG & Quick Stop ................................................................................................- 35 -

5.3.1 Soft Limit ........................................................................................................................- 35 -

5.3.2 JOG ................................................................................................................................- 35 -

5.3.3 Quick Stop ..................................................................................................................... - 36 -

5.4 PR Path ....................................................................................................................................- 37 -

5.4.1 PR Parameters .............................................................................................................. - 37 -

5.4.2 PR Path Configuration ...................................................................................................- 38 -

5.4.3 Other functions of PR .................................................................................................... - 39 -

5.5 Trigger Methods ....................................................................................................................... - 40 -

5.5.1 CTRG Trigger ................................................................................................................ - 40 -

5.5.2 IO Combination Trigger ................................................................................................. - 41 -

5.5.3 Fixed Trigger ..................................................................................................................- 42 -

5.5.4 Immediate Trigger ..........................................................................................................- 43 -

6 Tuning Operations ............................................................................................................................- 44 -

6.1 Basic operation of STEPPERONLINE MotionStudio ..............................................................- 44 -

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