Leadshine Technology EM2RS Series User Manual Download Page 6

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4.2 Modbus Function Codes (FC)..................................................................................................................- 14 -

4.2.1 Read Holding Registers FC= 03...................................................................................................- 15 -
4.2.2 Preset Single Register FC= 06......................................................................................................- 16 -
4.2.3 Preset Multiple Registers FC= 10.................................................................................................- 17 -

4.3 Modbus & PR Parameters........................................................................................................................- 18 -

4.4 Error Codes and Troubleshooting............................................................................................................- 23 -

4.4.1 Communication Error Codes........................................................................................................ - 23 -
4.4.2 Drive Alarm Codes and Troubleshooting.....................................................................................- 24 -
4.4.3 Error Clear.................................................................................................................................... - 25 -

4.5 Register Mapping Continuous Read/Write Function.............................................................................. - 25 -
4.6 S-code Application...................................................................................................................................- 26 -
4.7 Enable Drive............................................................................................................................................ - 27 -

5 PR Mode (Indexer Table)................................................................................................................................. - 28 -

5.1 PR Main Features.....................................................................................................................................- 28 -
5.2 Homing / Return to Zero Position........................................................................................................... - 28 -

5.2.1 Homing Parameters.......................................................................................................................- 29 -
5.2.2. Homing by Home Switch............................................................................................................ - 30 -
5.2.3. Homing by Limit Switch............................................................................................................. - 32 -

5.3 Soft Limit & JOG & Quick Stop............................................................................................................. - 33 -

5.3.1 Soft Limit...................................................................................................................................... - 33 -
5.3.2 JOG............................................................................................................................................... - 33 -
5.3.3 Quick Stop.................................................................................................................................... - 34 -

5.4 PR Path.....................................................................................................................................................- 35 -

5.4.1 PR Parameters...............................................................................................................................- 35 -
5.4.2 PR Path Configuration..................................................................................................................- 36 -
5.4.3 Other functions of PR................................................................................................................... - 37 -

5.5 Trigger Methods.......................................................................................................................................- 38 -

6 Tuning Operations.............................................................................................................................................- 43 -

6.1 Basic operation of Leadshine MotionStudio........................................................................................... - 43 -

6.1.1 Preparation and Steps....................................................................................................................- 43 -

Summary of Contents for EM2RS Series

Page 1: ... EM2RS 870 and EM2RS A882 2019 Leadshine Technology Co Ltd Address 15 20 F Block B Nanshan I Valley No 3185 Shahe West Road Nanshan District Shenzhen Guangdong 518055 China Tel 86 755 26409254 Fax 86 755 26402718 Web www leadshine com Sales sales leadshine com Support tech leadshine com ...

Page 2: ...issions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of Leadshine that is furnished for customer use ONLY Information in this document is subject to change without notice and does not represent a commitment on the part of Leadshine Therefore information contained in this manual may be updated from t...

Page 3: ...a cover to prevent accidental touching by hands and parts cables etc Use double insulated or reinforced insulation for control power Do not use in places where water can be splashed Corrosive environments Do not use the product in the vicinity of flammable gases and combustible materials Do not use damaged Drivers and motors with missing parts Please set up an emergency stop circuit externally to ...

Page 4: ... direction Make sure to keep the specified intervals between the inner surfaces of the drive control cabinet and other machines Do not pass the magnetic contactor in the wiring between the drive and the motor Please connect the power terminal and motor terminal firmly Keep a minimum distance of 10mm between the drive and the control cabinet or other equipment Allow at least 30mm of wiring space ab...

Page 5: ...ons 5 2 3 Installation Direction and Space 5 3 Product Specifications 7 3 1 Electrical and Operating Specifications 7 3 1 1 Electrical and Operating Specifications 7 3 2 Wiring Instructions 8 3 2 1 Power Supply Cable Motor Cable 8 3 2 2 I O Signal Cable 8 3 2 3 RS485 Communication Cable 8 3 3 Interface Specifications 9 3 3 1 Connectors Definition 9 3 3 2 CN1 CN2 Input Power Connector 9 3 3 3 CN3 I...

Page 6: ... Clear 25 4 5 Register Mapping Continuous Read Write Function 25 4 6 S code Application 26 4 7 Enable Drive 27 5 PR Mode Indexer Table 28 5 1 PR Main Features 28 5 2 Homing Return to Zero Position 28 5 2 1 Homing Parameters 29 5 2 2 Homing by Home Switch 30 5 2 3 Homing by Limit Switch 32 5 3 Soft Limit JOG Quick Stop 33 5 3 1 Soft Limit 33 5 3 2 JOG 33 5 3 3 Quick Stop 34 5 4 PR Path 35 5 4 1 PR ...

Page 7: ...un 45 6 1 3 Operation of PR Function 46 6 2 Basic Operation of Serial Port Tools Software 48 6 2 1 Preparation and Steps 48 6 2 2 Operation Instruction Format 49 6 2 3 Command Cases of Modbus RTU 49 Appendix A Parameters List 51 ...

Page 8: ... Alarm Brake Homing complete In Position complete Commands complete Path complete outputs 20 50VDC supply voltage for EM2RS 522 max output current 2 2A 20 50VDC supply voltage for EM2RS 556 max output current 5 6A 20 80VDC supply voltage for EM2RS 870 max output current 7 0A 20 80VAC or 30 100VDC supply voltage for EM2RS A882 max output current 8 2A RS232 communication for parameters configuration...

Page 9: ...hoose one or both Using PLC can write more complex programs to let motion more intelligent and the HMI can monitor and modify the drive parameters in real time 2 Controlled by I O switch signal or PLC The user only needs to turn off the switch signal to realize the PR motion which is simple to control and low cost design Users can also use PLC I O module to realize PR motion which is more intellig...

Page 10: ...Check the nameplate models of the drive and motor are what you have ordered Cheek if it is fully equipped with accessories Accessories include power supply and I O signals connector 1 4 2 Nameplate information 1 4 3 Part number Neither the damaged nor missing accessories of stepper system is allowed to install Contact Leadshine or local distributor if any failure was found ...

Page 11: ... 39000038 Molex 2 Installation 2 1 Storage and Installation Conditions 2 1 1 Storage condition Correctly packaged and store in a clean and dry environment where direct sunlight is avoided Store within an ambient temperature ranging from 20 to 65 Store within a relative humidity ranging from 40 to 90 and non condensed Avoid any type of exposure to corrosive gases 2 1 2 Operating ambience conditions...

Page 12: ...icular to the wall or in the control panel In order to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the drive and a cooling fan is mounted in the control panel Please ensure grounding wires are securely connected DO NOT mount the drive and motor in a location subjected to corrosive or flammable gases and combusti...

Page 13: ...EM2RS Modbus RS485 Stepper Drive User Manual 6 Figure 2 2 EM2RS series installation drawing ...

Page 14: ...ver Current Over Voltage Motor Cable Error etc PC Software Leadshine MotionStudio Operating Environment Environment Avoid dust oil fog and corrosive gases Operating Temperature 0 50 32 F 122 F Storage Temperature 20 65 4 F 149 F Humidity 40 90 RH Vibration 10 55Hz 0 15mm Mount Vertical or horizontal mounting Don t hot plug the motor wiring encoder wiring and RS232 communication wiring during power...

Page 15: ...ommon anode 3 2 1 Power Supply Cable Motor Cable Wire diameter VDC GND A A B B terminal wire diameter 0 3mm2 AWG15 22 3 2 2 I O Signal Cable Wire diameter I1 I7 O1 O3 COM wires diameter 0 12mm2 AWG24 26 Recommend to adopt shielded twisted pair cable with a length of less than 3 meters the shorter the better Wiring As far as possible away from the power line wiring in order to prevent interference ...

Page 16: ...onnector CN2 Motor connector CN3 I O signals connector CN4 RS485 communication connector CN5 RS232 tuning connector DIP Switch Salve ID SW1 SW5 Baud Rate SW6 SW7 Terminal Resistance SW8 3 3 2 CN1 CN2 Input Power Connector EM2RS 522 556 870 Name Pic PIN Signal Description CN1 1 VDC 24V 48V 2 GND GND CN2 4 A Motor phase A 3 B Motor phase B 2 A Motor phase A 1 B Motor phase B ...

Page 17: ...ingle ended Digital Inputs DI1 DI7 12V 24V DI1 is enabling signal default DI2 DI7 are GPIOs 2 DI2 I 3 DI3 I 4 DI4 I 5 DI5 I 6 DI6 I 7 DI7 I 8 COMI I 9 DO1 O Configurable Single ended Outputs Signals DO1 DO3 common cathode or common anode Max 24V 100mA GPIOs 10 DO2 O 11 DO3 O 12 COMO O Note 1 DI or DO is shown as SI or SO in Leadshine MotionStudio 2 DI1 is normally closed default by Enable signal I...

Page 18: ...d to set Salve ID also called Site Alias Baud Rate and Terminal Resistance they are shown as below 1 Slave ID SW1 SW5 off 1 on 0 Slave ID SW1 SW2 SW3 SW4 SW5 1 default on on on on on 1 factory 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 6 on off off on on 7 off off off on on 8 on on on off on 9 off on on off on 10 on off on off on 11 off off on off on ...

Page 19: ...W1 SW5 is default all are on the Slave ID can be configured by the PC software 2 Baud Rate SW6 SW7 Baud Rate SW6 SW7 115200 Default on on 38400 Factory off on 19200 on off 9600 off off Note 1 When the SW6 SW7 is default all are off the Baud Rate can be configured by the PC software 3 Terminal Resistance Selection SW8 SW8 ON terminal resistance is valid SW8 OFF terminal resistance is invalid Factor...

Page 20: ... 24V recommended 50mA 24V the provided power supply should be under 30V recommended 24V otherwise it will cause damage to the drive 3 4 3 Brake Output Use PC software from Leadshine or Controller or PLC vendor to configure this output as a BRAKE CONTROL output In this case this signal can be used for automatic brake control while system power failure It is recommended to connect a fly wheel diode ...

Page 21: ...ported Slave ID 0 broadcast 1 31 valid sub devices Numbers Parameter setting Function code FC Function code FC Function 0x03 Read single or multiple data 0x06 Write value to single data 0x10 Write value to multiple data Check Mode CRC 16 Left is Low bit Right is high bit Message Length Variable the max length is 200byte Single message communication rate of RS485 Unit ms Baud rate Start receiving t...

Page 22: ...r peak current Send message 01 03 01 91 00 01 D3 1B Receive message 01 03 02 00 0A 38 43 Details as following Master slave data Message 01 03 01 91 00 01 D3 1B Description Slave ID FC Register address Number of registers read CRC Slave master data Message 01 03 02 00 0A 38 43 Description Slave ID FC Number of bytes returned Value of 0x01 91 CRC Note 0x0191 output peak current 000A Hexadecimal 10 d...

Page 23: ...gister Response Slave to Master Slave ID 00 1F Slaver ID 00 1F FC 06 FC 06 Address of register to write to High Address of register written to High Low Low Value to write High Value written to register High Low Low CRC Low CRC Low High High Example C Write the value of a single register peak current Send message 01 06 01 91 00 20 DD 7B Receive message 01 06 01 91 00 20 DD 7B Details as following M...

Page 24: ...ter to write to High Address of first register written to High Low Low Total number of registers to write to High Total number of registers written to High Low Low Number of data bytes in message 2 bytes per register CRC Low Value1 to write High High Low Value2 to write High Low CRC Low High Example E Write multiple registers configure input port functions Send message 01 10 01 46 00 04 08 00 00 0...

Page 25: ...r internal command filtering 0 512 15 0 1ms 0x0145 Pr4 02 SI1 input 1 Default is normal open N O type it can be set to normal closed N C type by setting the corresponding port 0x80 SI1 is enable default N C type input 0 invalid 7 alarm clearing 8 enable also can be set by 0x00F 0x20 Trigger command CTRG 0x21 Trigger homing 0x22 EMG quick stop 0x23 JOG 0x24 JOG 0x25 POT positive limit 0x26 NOT nega...

Page 26: ...1 Pr5 24 RS485 data type selection 0 8 bit data even check 2 stop bits 1 8 bit data odd check 2 stop bits 2 8 bit data even check 1 stop bit 3 8 bit data odd check 1 stop bit 4 8 bit data no check 1 stop bit 5 8 bit data no check 2 stop bits 0 11 4 0x01C3 Pr5 25 RS485 control word 0 32767 0 0x01C4 Pr5 26 Communication bit delay 0 100 35 bit 0x01D1 Pr5 32 Switching time to standby 10 65535 200 ms 0...

Page 27: ...fault N C normally closed 2 Other inputs are N O normally open by default 3 The value of bit7 of each input register is set normally closed or normally open bit7 1 is normally closed bit7 0 is normally closed 0 65535 136 0x88 0x0147 Pr4 03 SI2 DI2 0 65535 0 0x0149 Pr4 04 SI3 DI3 0 65535 0 0x014B Pr4 05 SI4 DI4 0 65535 0 0x014D Pr4 06 SI5 DI5 0 65535 0 0x014F Pr4 07 SI6 DI6 0 65535 0 0x0151 Pr4 08 ...

Page 28: ...ng for Digital Inputs This section describes the setting of the value of each bit of the registers of the 7 inputs where the filtering time is set by the high 8 bits Set value of low 8 bits Normally open Normally closed setting Digital input function setting Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 0 Normally open 1 Normally closed 000 0000 0x00 Invalid input 000 1000 0x08 Enable 010 0000 0x20 CTRG...

Page 29: ...unction Normally closed Filter time 10ms default The register value is configured as 0000 0000 1000 1000 which translates to 136 in decimal i e write 136 to Pr4 02 to achieve the above configuration Routine 3 IO input port 7 is set to JOG2 function Normally open Filter time 500ms The register configuration is 0000 1111 0010 1100 which is converted to 3884 in decimal i e write 3884 to Pr4 08 to ach...

Page 30: ...4001 JOG CW Need to write once at least 50ms Write 0x4002 JOG CCW Status Word of Saving Parameter Register address Definition Attributes Description 0x1901 status word R Show 0x5555 Saving parameter OK Show 0xAAAA Saving parameter fault Note 1 The read value is 0x1111 when no save instruction has been executed after the first power up 2 The first read value is 0x5555 after a save instruction is ex...

Page 31: ...ption 0x2203 Current alarm R Below table Error code and cause The green light is always on after the drive power on When the error is occurred the drive will stop working and red light will be flashed indicates the current error code Whatever error occurs the user need to power off the drive and restart it after removing the error The user can read the corresponding error code through the PC softw...

Page 32: ... I O refer to Section 4 3 2 3 If the current error cannot be cleared please check the drive Clear history error History error All history error records can be cleared by Leadshine MotionStudio 4 5 Register Mapping Continuous Read Write Function Address description 0x0F10 0x0F19 By writing the address to be mapped to 0x0F10 0x0F19 it is possible to set the address mapping The 10 consecutive mapped ...

Page 33: ... 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...

Page 34: ...are not on Pr8 28 S code current output value register address 0x601C Path number S code at completion bit8 10 S code at start up bit0 2 S code setting value Remarks Path 1 001 000 Binary 1000 0001 1000 0000 Hexadecimal 0x8180 At start up No level at all three outputs Completion Output port 1 has level PR8 28 1 Path 2 011 010 Binary 1000 0011 1000 0010 Hexadecimal 0x8382 At start up Output port 2 ...

Page 35: ...JOG teaching function The JOG velocity and JOG Acc Dec can be set Limit Protect the machine by limiting the working area range Positive negative limit switch by digital input Soft limit setting Acc Dec limit can be set Note Soft limit is valid after homing completed Quick stop The movement stop immediately when the quick stop input is on which is valid at PR mode only PR Path Select the PR path nu...

Page 36: ...ch when zeroing it will use the home switch it touches as the home point if the motor turns in the opposite direction when zeroing it will automatically reverse to find the home point after it touches the limit switch Manual set to zero position Set by register address 0x600A or by tuning software After triggering the current value of the motor is cleared to zero and the current point is used as t...

Page 37: ... Pr8 17 0x6011 Homing Acc Acc of homing unit ms 1000rpm Pr8 18 0x6012 Homing Dec Dec of homing unit ms 1000rpm Note Generally homing to find the zero position the motion is decelerating to stop so after finding the zero position will also move a distance resulting in the actual read position value may not be mechanical zero point but will still output homing completion signal If the motion is an a...

Page 38: ...EM2RS Modbus RS485 Stepper Drive User Manual 31 1 Home Switch Positive Limit Switch 2 Home Switch at Positive Direction 3 Home Switch Negative Limit Switch ...

Page 39: ...EM2RS Modbus RS485 Stepper Drive User Manual 32 4 Home Switch at Negative Direction 5 2 3 Homing by Limit Switch 1 Positive Limit Switch 2 Negative Limit Switch ...

Page 40: ...he soft limit function can be activated Relevant objects Register address Par in software Definition Range Default Value Description 0x6000 Pr8 00 PR control setting 32767 Bit1 Soft limit 0 disable 1 enable 0x6006 Pr8 06 Soft limit H 32767 0x7FFF Soft limit positive high bits 0x6007 Pr8 07 Soft limit L 32767 0xFFFF Soft limit positive low bits 0x6008 Pr8 08 Soft limit H 32767 0x8000 Soft limit neg...

Page 41: ...te value 0x40 to 0x6002 or trigger forced quick stop input to IO port or stop giving IO port level if using level trigger method Example for JOG and IO Trigger EM2RS uses JOG JOG to achieve forward and reverse rotation operation the running velocity can be set in JOG velocity and JOG velocity 2 then through the external IO signal to realize the two velocity switching During the is running the valu...

Page 42: ...dow of the Leadshine tuning software to configure the PR path parameters but it can also use the following objects Par in software Register Address Definition Description Pr9 00 0x6200 PR path 0 The corresponding functions can be selected for different bit Bit0 3 Operation mode 0 no action 1 position mode 2 velocity mode 3 homing mode Bit4 INS 0 No interrupt 1 interrupt all the current ones are 1 ...

Page 43: ...Similar as above paths Similar as above paths PR path 7 Pr9 64 Pr9 71 Similar as above paths Similar as above paths PR path 8 5 4 2 PR Path Configuration If use the digital input ports to configure the PR path they can be set to ADD0 ADD1 ADD2 and ADD3 thus forming 16 segment PR path and then trigger the path number to complete the PR motion Each digital input of the drive can be configured as any...

Page 44: ...DD0 ADD3 it is configured according to the actual required path motions For example if only Path0 is needed refer to the above table SI1 4 are not required to be configured as ADD0 ADD3 because they are are off only one input needs to be configured as CTRG 5 4 3 Other functions of PR Timing sequence of signal path Single path sequence diagram 5 5 3 Multi segment Jump For example set paths 5 and 9 ...

Page 45: ... no in position signal in the intermediate delay from PR1 jump to PR2 Continuous movement timing sequence no overlap Interrupt function The interrupt function is the priority of a PR path Interrupts a valid path means that interrupting and abandoning the current path under trigger and runs another path directly which is similar as Interrupt priority of function As below example interrupt the PR1 P...

Page 46: ...closed SI1 is set to ADD0 normally open SI2 is set to ADD1 normally open Set SI5 as trigger CTRG When CTRG is on SI1 and SI2 are off the path 0 is triggered When CTRG and SI1are on and SI2 is off the path 1 is triggered When CTRG and SI2 are on and SI1 is off the path 2 is triggered When CTRG SI1 and SI2 are all on the path 3 is triggered As shown in the table below on means signal input on off me...

Page 47: ... 1 is triggered If the velocity of path 1 is 0 i e the motor stops immediately Path number SI2 ADD0 SI3 ADD1 SI4 ADD2 Path 1 ON OFF OFF Path 2 OFF ON OFF Path 3 ON ON OFF Path 4 OFF OFF ON Path 5 ON OFF ON Path 6 OFF ON ON Path 7 ON ON ON Note on the input signal optocoupler on off means signal optocoupler off 5 5 3 Fixed Trigger Fixed trigger mode is after configuring homing and path less than 16...

Page 48: ...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 ...

Page 49: ...s RS485 Stepper Drive User Manual 42 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 ...

Page 50: ... supports Windows 7 and Windows 10 systems 6 1 1 Preparation and Steps 1 RS232 Tuning cable CABLE PC 1 Pin Definition It is recommended that users order this cable directly from Leadshine not to make it yourself 2 USB to RS232 converter sometimes it needs to manually install the drive program 3 COM port selection as shown in the figure below the communication port is COM3 4 Connect tuning software...

Page 51: ...EM2RS Modbus RS485 Stepper Drive User Manual 44 5 Basic parameter setting 6 Input and output function and polarity setting ...

Page 52: ...OK Then in the parameter management window click the Save button to prevent the parameter values from being lost after the drive is powered off 6 1 2 Operation of Trial Run Trial run lets the motor to achieve forward and reverse rotation or repeat motion The operation steps are as follows ...

Page 53: ... 46 6 1 3 Operation of PR Function 1 This window can set the CTGR trigger and Homing parameters of PR motion 2 This window is the PR path parameter setting including operation mode target position speed value etc Double click to modify parameters ...

Page 54: ...nload and save as follows 3 Manually run the PR path As shown in the figure below the default is the motion parameter of PR0 As long as click Start the motor will run according to the path of PR0 If click PR1 in step 4 the motor will be forced to switch to the path of PR1 Click step 3 to stop motor ...

Page 55: ...he motor through RS485 communication user can realize the movement of the motor by sending commands to the corresponding registers 6 2 1 Preparation and Steps 1 RS485 tuning cable 2 COM port selection as shown in the figure below the communication port is COM3 RS458 to USB User provided RS485 DB9 to RJ45 User provided ...

Page 56: ... Code Register Address Value to Write CRC 01 06 Preset single register 62 00 PR0 operation mode setting 00 41 Set PR mode to relative position mode 56 42 Automatically generated by the serial port tool software A complete command 01 06 62 00 00 41 56 42 6 2 3 Command Cases of Modbus RTU 1 Set PR0 to go absolute position mode running distance 200000p microstep 10000 Commands 01 06 62 00 00 00 01 57...

Page 57: ...1 06 60 02 00 10 37 C6 Trigger PR0 motion Send when you need to stop 01 06 60 02 00 40 37 FA Emergency stop 4 Set PR1 to go absolute position mode running distance 200000p microstep is 10000 Commands 01 06 62 08 00 01 D6 70 Set PR1 mode 01 06 62 09 FF FC 07 C1 Set PR1 position high 01 06 62 0A F2 C0 F3 40 Set PR1 position low 01 06 62 0B 02 58 E7 2A Set PR1 speed value 01 06 62 0C 00 32 D7 A4 Set ...

Page 58: ...OG 0x25 POT positive limit 0x26 NOT negative limit 0x27 ORG home switch 0x28 ADD0 path address 0 0x29 ADD1 path address 1 0x2A ADD2 path address 2 0x2B ADD3 path address 3 0x2C JOG velocity 2 0 65535 136 0x88 0x0147 Pr4 03 SI2 input 2 0 65535 0 0x0149 Pr4 04 SI3 input 3 0 65535 0 0x014B Pr4 05 SI4 input 4 0 65535 0 0x014D Pr4 06 SI5 input 5 0 65535 0 0x014F Pr4 07 SI6 input 6 0 65535 0 0x0151 Pr4 ...

Page 59: ...s JOG is triggered by RS485 For JOG triggered by IO please use Pr8 40 8 41 0 5000 60 r min 0x01E3 Pr6 01 Interval 0 10000 100 ms 0x01E5 Pr6 02 Running times 0 30000 1 0x01E7 Pr6 03 Acc Dec time 0 10000 200 0x01FF Pr6 15 Version information Read only 0 65535 0 0x0201 Pr6 16 Firmware information Read only 0 65535 0 0x0231 Pr7 00 Motor model Invalid 0 100 0 0x0235 Pr7 02 Back EMF coefficient Invalid ...

Page 60: ...ter homing 0 no 1 yes Bit2 homing method 0 limit switch homing 1 home switch homing Note 1 Write 0x21 to 0x6002 manually set the current point to zero position 2 Other methods are not valid Pr8 15 0x600F Homing high velocity The 1st segment velocity of homing unit rpm Pr8 16 0x6010 Homing low velocity The 2nd segment velocity of homing unit rpm Pr8 17 0x6011 Homing Acc Acc of homing unit ms 1000rp...

Page 61: ... setting for Path 14 Pr8 63 0x603F S code output setting for Path 15 Pr9 00 0x6200 Motion of Path 0 The corresponding functions can be selected for different bit Bit0 3 TYPE 0 no action 1 position positioning 2 velocity movement 3 homing Bit4 INS 0 No interrupt 1 interrupt all the current ones are 1 Bit5 OVLP 0 Non overlapping 1 Overlapping Bit6 0 absolute position 1 relative Commands Bit8 13 Jump...

Page 62: ... as above paths Similar as above paths Each path has 8 data Pr9 40 Pr9 47 Similar as above paths Similar as above paths Each path has 8 data Pr9 48 Pr9 55 Similar as above paths Similar as above paths Each path has 8 data Pr9 56 Pr9 63 Similar as above paths Similar as above paths Each path has 8 data Pr9 64 Pr9 71 Similar as above paths Similar as above paths Each path has 8 data ...

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