Kalatec Automacao STR6-RS485 Page 22 User Manual Download

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6.4 MODBUS Common function codes

6.4.1 Read holding register command 0x03

Host -> Slave Data

Device

Function Register

Number of

address

code

address

registers
read

CRC check

Slave -> Host Data

Device
address

Function
code

Number of
bytes
returned

CRC check

The return current value of the slave (register address 00) is 2700mA.

6.4.2 Write single register command 0x06

Host -> Slave Data

Device
address

Function
code

Write data

CRC check

Slave -> Host Data

Device
address

Function
code

Write data

CRC check

Write 1600 pulse/s to the lower 16bit of the slave speed (register address 64).

Summary of Contents for STR6-RS485

Page 1: ...1 STR6 RS485 RS485 OPEN LOOP STEP MOTOR DRIVE User s Manual ...

Page 2: ...imensions 6 3 2 Installation method 7 3 3 4 Driver ports and wiring 7 4 1 Schematic diagram of wiring 7 4 2 Port Definition 8 5 Instructions for setting the dial switch 12 6 Communication and communication protocol description 13 6 1 Network layout 14 6 2 Communication protocol 14 6 3 Return to zero function 20 6 4 MODBUS Common function code 21 6 5 CRC Validation routines 23 7 Warranty and after ...

Page 3: ...o equipment This product has passed the national mandatory 3C certification CE certification ROHS certification 1 Overview 1 1 Product Introduction RS485 Bus driver of Modle Bus Standard introduced by our company It adopts the latest 32 bit DSP digital processing technology The driver control algorithm adopts advanced variable current technology and advanced frequency conversion technology The dri...

Page 4: ...8 0 a arbitrary choice With over voltage under voltage over current and other protection functions 1 3 Application areas Suitableforallkindsofsmallandmedium sizedautomaticequipmentandinstruments such as AGV speed door engraving machine marking machine cutting machine laser phototypesetting plotter CNC machine tools automatic assembly equipment etc It works especially well on devices that users exp...

Page 5: ...ing or forced air cooling Service Environment Occasion Cannotbeplacednexttootherheatingequipment toavoiddust oil mist corrosive gases humidity is too large and strong vibration sites prohibited combustible gases and conductive dust Temperature 10 50 Humidity 40 90 RH Vibration 5 9m s2MAX Storage temperature 20 60 Use Elevation 1000 米以下 Below 1000 meters Weight 0 2KG ...

Page 6: ...atic semi flow mode when using the motor When the motor stops the current is automatically reduced by half to reduce the heat of the motor and the drive Install the drive with vertical side mounting so that the heat dissipating teeth form a strong air convection Install a fan near the drive when necessary to force heat dissipation to ensure that the drive works within a reliable operating temperat...

Page 7: ...the power The blue LED is the fault indicator When there is a fault the indicator lamp for 3 seconds cycle flashing When the fault is cleared by the user the blue LED often out Red Led flashes in 3 seconds represent different failure information as shown in the table below No The number of flashes Red LED flashes waveform Description of the problem 1 1 Overcurrent or interphase short circuit fault...

Page 8: ...pond reliably to the pulse signal the DR pulse width should be greater than 1 5 s IN Low speed signal IN1 IN2 IN3 common anode input level 5 24V compatible IN1 Negative input of low speed signal IN1 IN2 Negative input of low speed signal IN2 IN3 Negative input of low speed signal IN3 OT Common Cathode OC emitter output OT1 OT2 emitter OC output common terminal OT1 OT1 emitter output maximum pull u...

Page 9: ...eservation EB EZ Closed loop step by step encoder reservation EZ EU Brushless reserve EU EV Brushless reserve EV EW Brushless reserve EW 5V It supplies the motor s encoder and Houle element with a DC voltage of 5V and a current of 100mA GND 5V Reference Terminal Negative 4 2 4 Output ports of power supply and motor Power supply and motor power interface Name Function GND DC power source ...

Page 10: ...than the maximum voltage to prevent the grid from fluctuating beyond the operating range of the driver voltage If using a regulated switching power supply be aware that the output current range of the switching power supply must be set to maximum Please note When wiring pay attention to the positive and negative poles of the power supply do not reverse connection It is better to use an unstable po...

Page 11: ...ing technology used in strong interference 8 EGNG Signal ground 9 RS485 RS485 SIGNAL or B 10 RS485 RS485 signal or A 11 RS232 RXD RS232 serial port TTL 3 3 V level serial debugging settings 12 EGNG Signal ground 13 EGNG Signal ground 14 RS232 TX RS232 serial port TTL 3 3 V level serial debugging settings 15 EGNG Signal hot ground shielding technology used in strong interference 16 NC No hold ...

Page 12: ... address is set by dialing high 2 bit RS485 address is set by host computer RS485 ID Table ID S1 S2 S3 S4 S5 Reserved On On On On On 1 Off On On On On 2 On Off On On On 3 Off Off On On On 4 On On Off On On 5 Off On Off On On 30 On Off Off Off Off 31 Off Off Off Off Off Note The formula for calculating the value of the RS485 ID table is ID 1 S 1 2 s 2 4 s 3 8 s 4 16 S 5 The Default ID value is 0 0 ...

Page 13: ... acceleration and deceleration curve generator can trapezoidal acceleration and deceleration through communication commands to achieve fixed length operation continuous operation deceleration stop immediately stop Internal operation supports absolute position mode and relative position mode control built in common return to zero function simplify the development The internal pulse generator uses 3...

Page 14: ...ge Register description site name bute defaul t value of values 0 Peak current R W S 5000 1 6000 Unit Ma 1 The fine fraction R W S 6000 200 51200 The number of pulses required to run a motor in one turn 2 Standby time R W S 300 100 10000 The time the drive is on standby unit ms 3 Percentage of standby current R W S 50 0 100 Unit 4 Dial the code state R 10 Filtering time R W S 4000 50 25600 Set the...

Page 15: ...rate selection R W S 96 96 1152 96 said 9600 22 Effective current value R W S 3500 1 4200 Unit Ma 31 Device ID no R 39 R Total number pulses L of 16bit The number of external pulsesreceivedis16bit lower 40 Total number pulses H of R W 16bit The number of external pulsesreceivedis16bit higher Write Write 1 to clear the counter 48 Bus voltage R Return bus voltage unit 0 1V ...

Page 16: ...n reduction is lower 16bit R W S 3200 0 65535 pulse s 2 63 Deceleration height 16bit R W S 0 0 65535 pulse s 2 64 16bit Low speed R W S 1600 0 65535 pulse s 65 16bit High speed R W S 0 0 65535 pulse s 66 16bit Low acceleration R W S 3200 0 65535 pulse s 2 67 16bit High acceleration R W S 0 0 65535 pulse s 2 68 Low 16 bit R W S 1600 0 65535 pulse 69 High 16 bit R W S 0 0 65535 pulse 70 Sports R W 0...

Page 17: ...rse fixed length movement 3 Forward continuous motion 4 Continuous reverse motion 5 Stop immediately 6 Default value meaningless 71 Back to the zero R W 0 0 2 0 Exit back to zero 1 Zero to zero with theforwardlimitsignal 2 Zero to zero with negative limit signal 72 Fixed length movement working mode R W 0 0 1 0 Incremental mode 1 Absolute mode ...

Page 18: ...device status register R See 2 2 2 for the specific bit definition 90 Save the parameters R W 0 0 1 Read the address Return 0 Save incomplete Return 1 The save is complete 91 Restore factory default parameters R W 0 0 1 Write 1 to start the cleanup Read the address Return 0 Clear unfinished Return 1 The cleanup is complete 92 150 reserved R reserved ...

Page 19: ...o 1 Negativelimitsignal level default IN3 is negative 1 Negative limit occurs when 0 optocoupler is turned off 1 Negative limit occurs when the optocoupler is on 0 Positivelimitsignal level In2 is a positive limit by default 1 Positive limit occurs when 0 optocoupler is turned off 1 Positive limit occurs when the optocoupler is on 6 2 2 Driver status register A definition Name Description The defa...

Page 20: ...ternal pulse is incomplete 6 retain 0 0 5 Negative limit 0 0 No negative limit signal 1 a negative limit signal 4 positive limit 0 0 No positive limit signal 1 Positive limit signal 2 3 retain 0 1 overpressure 0 0 no overvoltage 1 Overpressure occurs 0 Over current 0 0 no flow 1 Overflow occurred ...

Page 21: ... to zero After writing 2 to register address 71 return to zero command the return to zero process is as follows Step 1 Run negative to the negative limit with the speed and acceleration set at register 62 67 addresses Step 2 Slow down and stop when negative limit signal is detected Step 3 Run in the positive direction of the speed set by register address 60 return to zero speed to the limit signal...

Page 22: ...es returned Register count CRC check 01 03 02 0A 8C BF 41 The return current value of the slave register address 00 is 2700mA 6 4 2 Write single register command 0x06 Host Slave Data Device address Function code Register address Write data CRC check 01 06 00 40 06 40 8A 4E Slave Host Data Device address Function code Register address Write data CRC check 01 06 00 40 06 40 8A 4E Write 1600 pulse s ...

Page 23: ...heck 01 10 00 44 00 02 01 DD Write 14464 to the slave 16bit low register address 64 and 16bit high register address 65 Write 1 that is the total number of trips is 80000pulse 6 5 CRC Validation routines The following routine calculates CRC using the C language Uint16 Funct_CRC16 unsigned char puchMsg Uint16 DataLen Uint16 i j tmp Uint16 crcdata 0xFFFF for i 0 i DataLen i crcdata puchMsg crcdata pu...

Page 24: ...aused by improper wiring power supply voltage and user peripheral configuration Without the written authorization of the company users make changes to the products without authorization Use beyond electrical and environmental requirements The drive serial number has been torn off or is unreadable The outer shell was visibly damaged An irresistible disaster 6 2 Aftersales Service Before you call pl...

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