StepperOnline RS485 User Manual

Modbus RS485 Stepper Drive User Manual
42
1. Firstly, configure required homing and path, it can be set through controller/PLC software after power-on , or
through STEPPERONLINE PC software;
2. Enable drive;
3. Write corresponding command to the 0x6002 to realize the selection and startup of each action.
Par. #
Register
address
Definition
Description
Pr8.02
0x6002
Trigger register
Write corresponding command to the 0x6002 to realize the
selection and startup of each action.
Write value 0x01P----P-segment positioning, (P indicates path
#0-15);
Write value 0x020---- Homing; (edge triggered)
Write value 0x021---- Set the current position as origin by
manual;
Write value 0x040---- E-stop;
Read value 0x000---- Positioning is completed and new data
can be received;
Read value 0x01P, 0x020, 0x040---- Not responding to the
command;
Read value 0x10P---- Path is running;
Read value 0x200---- Command is completed and waiting for
positioning.
Note: (P indicates path NO. 0-15);
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

StepperOnline RS485 Specifications

General

Brand	StepperOnline
Model	RS485
Category	DC Drives
Language	English