EM2RS Modbus RS485 Stepper Drive User Manual
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for reading and writing instead of the original parameter addresses. For example, if 0x0001 is written to 0x0F10, the operation
of reading and writing to 0x0001 can be replaced by "read and write to 0x0F10". The mapped address is equivalent to a "stand-
in" or "proxy" for the original address.
Mapping target address
Reading and writing
Host
0x0F10 (Pr0.00: Microstep)
←--→
Host
0x0F11 (Pr0.04: inductance value)
←--→
0x0F12 (Pr2.00: instruction filter time)
←--→
0x0F13 (Pr5.00: peak current)
←--→
0x0F14 (Pr4.19: delay of releasing brake )
←--→
0x0F15 (Pr4.25: software de-jitter delay of position when in
position)
←--→
0x0F16 (Pr7.01: encoder resolution)
←--→
0x0F17 (Pr7.09: over-voltage threshold)
←--→
0x0F18 (Pr8.46: digital inputs)
←--→
0x0F19 (Pr9.03: PR0 velocity)
←--→
Message Example
Conditions: Drive ID is 1, motor is stationary.
(1) Mapping
Master→Slave:
01 10 0F 10 00 0A 00 00 01 00 09 00 A1 01 91 01 67 01 73 02 33 02 43 60 2E 62 03 4B 43
Slave → Master:
01 10 0F 10 00 0A 42 DF
(2) Read and write
Master→Slave:
01 03 0F 00 00 0A C6 D9
Slave → Master:
01 03 14 27 10 05 87 00 0F 00 3C 00 FA 00 03 0F A0 00 5A 00 01 00 00 00 56 F4
(3) Mapping parameter save instruction 0x2244
Master→Slave:
01 06 18 01 22 44 C6 39 (Note: Write 0x2244 to 0x1801, the function is to save the mapped address into EEPROM)
Slave → Master:
01 06 18 01 22 44 C6 39
4.6 S-code Application
S-code (status code) is the status indicator of the currently executed PR path, whether it is running, or the path is completed.
In a normal path program, no matter which path is completed, the drive will output the run status uniformly, but it is difficult to
identify which path. The S-code function can help to identify the specific path number and running status, or read the value of
Pr8.38(0x601C). Each PR path can set an S-code, i.e. each path has a dedicated S-code register, the exact S-code is user-defined
according to the table format below.
Size S
High 8 bits
Lower 8 bits
