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CS2RS Series

Modbus RS485 Stepper Drive

User Manual

For Models of CS2RS-D503, CS2RS-D507 and CS2RS-D1008

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:

[email protected]

Support:

[email protected]

Summary of Contents for CS2RS Series

Page 1: ... D507 and CS2RS D1008 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: ...ors or omissions 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 updat...

Page 3: ...nstalling 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 exte...

Page 4: ...specified 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...

Page 5: ...imensions 5 2 3 Installation Direction and Space 6 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 Cable Encoder 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 ...

Page 6: ...odes 25 4 4 2 Drive Alarm Codes and Troubleshooting 26 4 4 3 Error Clear 26 4 5 Register Mapping Continuous Read Write Function 27 4 6 S code Application 28 4 7 Enable Drive 29 5 PR Mode Indexer Table 30 5 1 PR Main Features 30 5 2 Homing Return to Zero Position 30 5 2 1 Homing Parameters 31 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 ...

Page 7: ... and Steps 44 6 1 2 Operation of Trial Run 46 6 1 3 Operation of PR Function 47 6 2 Basic Operation of Serial Port Tools Software 49 6 2 1 Preparation and Steps 49 6 2 2 Operation Instruction Format 50 6 2 3 Command Cases of Modbus RTU 50 Appendix A Parameters List 52 ...

Page 8: ... digital inputs 3 optically isolated digital outputs Limit Limit Origin Quick stop Enable JOG JOG and Position Table inputs Alarm Brake Homing complete In Position complete instructions complete Path complete outputs 20 50VDC supply voltage for CS2RS D503 max output current 3A 20 50VDC supply voltage for CS2RS D507 max output current 7A 18 80VAC or 30 100VDC supply voltage for CS2RS D1008 max outp...

Page 9: ...LC and HMI have RS485 communication so user can choose 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 User can also use PLC I O mo...

Page 10: ...portation 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: ...04 1 Drive Side Manufacturer Molex Housing 39012040 Terminal 39000038 Encoder extension cable Yes CABLEM BM M Optional length 1 5m 3m 5m 8m 10m 12m 15m Motor Side Manufacturer NSTECH Drive Side Manufacturer Molex Housing 513531200 Terminal 561349000 Tuning Cable No CABLE PC 1 cable Network cable Yes Optional length 0 1m 0 2m 0 3m 0 4m 1m 1 5m 2m 3m 5m 7m 10m Note 1 Tuning cable is not necessary it...

Page 12: ...om 0 to 50 The ambient temperature of drive for long term reliability should be under 40 Please install the drive in a well ventilated area Operation within a relative humidity ranging from 40 to 90 and non condensed Vibration lower than 0 15mm at a frequency of 10Hz 55Hz 2 2 Dimensions Unit mm 1inch 25 4mm CS2RS D503 507 DO NOT mount the drive and motor in a location subjected to corrosive or fla...

Page 13: ...function or premature failure of the drive and or motor Please follow the guidelines in this manual when installing The drive should be mounted perpendicular 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 Ple...

Page 14: ...osition Following Error Encoder Cable Error etc PC Software Leadshine ProTuner coming soon 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 dur...

Page 15: ...er Cable VDC GND A A B B terminal wire diameter 0 3mm2 AWG15 22 EA EA EB EB EZ EZ VCC GND wire diameter 0 15mm2 AWG26 Recommend to adopt shielded twisted pair cables 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 length of less than 3 meters the shorter the better Wiring As far as possible away from the power...

Page 16: ...tor CN2 Motor connector CN3 I O signals connector CN4 RS485 communication connector CN5 RS232 tuning connector CN6 Encoder Signals Connector DIP Switch Salve ID SW1 SW5 Baud Rate SW6 SW7 Terminal Resistance SW8 3 3 2 CN1 CN2 Input Power Connector CS2RS D503 507 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: ...igurable Single 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 Enabl...

Page 18: ... Connector Name Pic PIN Signal Description CN6 1 2 3 4 NC Reserved 5 EA Encoder signal of phase A 6 EA Encoder signal of phase A 7 EB Encoder signal of phase B 8 EB Encoder signal of phase B 9 EZ Encoder Z signal optional 10 EZ Encoder Z signal optional 11 VCC Encoder 5V voltage 12 GND Encoder ground 3 3 7 DIP Switches The CS2RS series drives use an 8 bit DIP switched to set Salve ID also called S...

Page 19: ...ff on 11 off off on off on 12 on on off off on 13 off on off off on 14 on off off off on 15 off off off off on 16 on on on on off 17 off on on on off 18 on off on on off 19 off off on on off 20 on on off on off 21 off on off on off 22 on off off on off 23 off off off on off 24 on on on off off 25 off on on off off 26 on off on off off 27 off off on off off 28 on on off off off 29 off on off off of...

Page 20: ...he last slave in the network needs to connect a 120Ω terminal resistance it means set the SW8 to on 3 4 I O Connection 3 4 1 Digital Inputs The connections of input signals are as below Figure 3 3 Input Interface Connection 3 4 2 Digital Output Figure 3 4 Output Interface Wiring Note 1 The power supply 12 24VDC above is provided by user and if the polarity of power supply is reversed it will damag...

Page 21: ...vendor to configure this output as a BRAKE CONTROL output In this case brake signal can be used for automatic brake control while system power failure It is recommended to connect a fly wheel diode in parallel to a 24VDC relay and brake coil connection Refer to the following figure for brake connections Figure 3 5 Brake output connection ...

Page 22: ...Protocol Communicating Protocol Modbus RTU ASCII is not supported 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 comm...

Page 23: ...0191 output peak current 000A Hexadecimal 10 decimal unit 0 1A it means the current 1A Example B Read multiple register values Send message 01 03 01 BC 00 06 05 D0 Receive message 01 03 0C 00 00 00 02 00 00 00 01 00 00 00 04 B6 13 Details as following Master slave data Message 01 03 01 BC 00 06 05 D0 Description Slave ID FC Register address Number of registers read CRC Read Holding Registers Query...

Page 24: ...arameters continuously 4 2 2 Preset Single Register FC 06 Preset Single Register Query Master to Slave Preset Single Register 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 re...

Page 25: ...Preset Multiple Registers FC 10 Preset Multiple Registers Query Master to Slave Preset Multiple Registers Response Slave to Master Slave ID 00 1F Slaver ID 00 1F FC 10 FC 10 Address of first register 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 ...

Page 26: ...ftware forced enable has a higher priority than IO enable and when this value is 0 the enable status of the drive only depends on the IO signal When this value is 1 the motor is enabled regardless of the IO signal status 0 1 0 0x0051 Pr1 00 Position loop Kp Increase this value will reduce position following error but could result in motor vibration 0 3000 507 25 1008 45 0x0053 Pr1 01 Velocity loop...

Page 27: ... 0 65535 0 0x0171 Pr4 24 Distance to send In Position output signal The distance in number of pulses to send out the In Position signal 0 1500 200 CPR 0x0177 Pr4 27 Bus voltage 0 65535 0 0 1V 0x0179 Pr4 28 Digital input statue Bit0 Bit6 SI1 SI7 0 65535 0 0x017B Pr4 29 Digital output statue Bit0 Bit2 SO1 SO3 0 65535 0 0x0187 Pr4 35 DIP switches statue 0 65535 0 0x0191 Pr5 00 Peak current Approximat...

Page 28: ...32767 100 1ms 0x0237 Pr7 03 Current loop proportional KP Invalid 0 3000 1500 0x0239 Pr7 04 Current loop KI It is recommended to keep the factory value when disable auto tuning can be modified 0 1500 300 0x023B Pr7 05 Current loop KP 0 1024 100 0x023D Pr7 06 Current loop Kc Invalid 0 32767 300 0x0243 Pr7 09 Over voltage threshold Invalid 0 1000 90 V 0x1003 Motion status Read only Bit NO Read value ...

Page 29: ...tedly only after the restart drive can detect it 2 When input functions are configured it is effective after clicking save and restart drive Digital Input port function assignment Normal open N O Normal closed N C Digital Inputs Digital Outputs Functions Symbols Type Functions Symbols Type N O N C N O N C Trigger Command CTRG 0x20 0xA0 Command Complete CMD_OK 0x20 0xA0 Homing Trigger HOME 0x21 0xA...

Page 30: ...1 1 0010 2 0011 3 0100 4 0101 5 0110 6 0111 8 1000 15 1001 20 1010 30 1011 40 1100 50 1101 100 1110 200 1111 500 Note 1 The values of the registers correspond to the individual filter times The default state is 0000 which correspond to 10ms 2 If you need to set other filter times for the IO port you can fill in the value manually in the parameter manage table of Leadshine MotionStudio Example 1 IO...

Page 31: ...ile velocity R rpm 0x1046 high 16 bit 0x1047 low 16 bit Feedback velocity R rpm 4 3 5 Control Word and Status Word 1 The related function is started by sending the control word 2 The completion is judged by checking the status word The status word is automatically returned to its initial state after it is read Control Word Register address Definition Attributes Description 0x1801 Control word W S ...

Page 32: ...ts FC beside of 03h 06h 10h 0x02 Wrong access address 0x03 Wrong data for example write data over limit value etc 0x08 Wrong CRC check code Example F CRC check code error Master slave data Message 01 03 00 01 00 01 D5 C1 Description Slave ID Function code Register address Read Number of registers CRC check code slave Master data Message 01 83 08 40 F6 Description Slave ID FC 0x80 Error code CRC Ex...

Page 33: ... 0x02 Over voltage 2 1 Restart the drive 2 If it still exists check the voltage of power supply 0x40 Current sampling circuit error 3 1 Restart the drive 2 If it still exists the hardware failure 0x80 Shaft locking error 4 1 Check whether the motor wire is broken 0x200 EEPROM error 5 1 Connect the drive to Leadshine software to reset parameters to the factory 2 If it still exists the hardware fail...

Page 34: ...Parameter original address 0x0F10 0x0001 Pr0 00 Microstep 0x0F11 0x0009 Pr0 04 inductance value 0x0F12 0x00A1 Pr2 00 instruction filter time 0x0F13 0x0191 Pr5 00 peak current 0x0F14 0x0167 Pr4 19 delay of releasing brake 0x0F15 0x0173 Pr4 25 software de jitter delay of position when in position 0x0F16 0x0233 Pr7 01 encoder resolution 0x0F17 0x0243 Pr7 09 over voltage threshold 0x0F18 0x602E Pr8 46...

Page 35: ...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 Bit bit15 bit8 10 bit7 bit0 2 Description Whether the S code is valid at the time of comple...

Page 36: ...R8 28 3 Path 3 101 100 Binary 1000 0101 1000 0100 Hexadecimal 0x8584 At start up Output port 3 has level On completion Outputs 1 and 3 have levels PR8 28 5 Path 4 111 110 Binary 1000 0111 1000 0110 Hexadecimal 0x8786 At start up Outputs 2 and 3 are level When finished output ports 1 2 3 are level PR8 28 7 4 7 Enable Drive There are two methods to enable CS2RS series drives I O enable DI1 of CS2RS ...

Page 37: ...G CCW JOG 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 ...

Page 38: ...eadshine software If the homing direction is positive then it is positive limit switch homing Conversely the negative limit homing Home switch Set by register address 0x600A or Leadshine software If the motor turns toward the home switch 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 f...

Page 39: ...igh 16 bits and Pr8 14 is low 16 bits Pr8 14 0x600E Homing stop position low bits 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 1000rpm Pr8 18 0x6012 Homing Dec Dec of homing unit ms 1000rpm Note Generally homing to find the zero position the...

Page 40: ...CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual 33 2 Home Switch at Positive Direction 3 Home Switch Negative Limit Switch ...

Page 41: ...CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual 34 4 Home Switch at Negative Direction 5 2 3 Homing by Limit Switch 1 Positive Limit Switch 2 Negative Limit Switch ...

Page 42: ...e low bits 0x6008 Pr8 08 Soft limit H 32767 0x8000 Soft limit negative high bits 0x6009 Pr8 09 Soft limit L 32767 0 Soft limit negative low bits 0x6016 Pr8 22 Soft limit quick stop time Deceleration time after triggering the soft limit unit ms 5 3 2 JOG The JOG function allows fine tuning of the drive or fine adjustment of the position of the device or forward and reverse velocity operation of the...

Page 43: ...nd effect in real time The path motion can also be triggered by external IO SI1 is set to enable input by default normally closed SI2 is set to JOG used for positive directional velocity operation SI3 is set to JOG used for negative directional velocity operation SI6 is set to JOG velocity 2 used for JOG high and low velocity switching SI4 is set to trigger signal CTRG which is used to trigger pat...

Page 44: ...VLP 0 Non overlapping 1 Overlapping Bit6 0 absolute position 1 relative position Bit8 13 Jump to the corresponding PR path 0 15 bit14 JUMP 0 No jump 1 jump Pr9 01 0x6201 Position H High 16 bit Pr9 02 0x6202 Position L Low 16 bit Pr9 03 0x6203 velocity Unit rpm Pr9 04 0x6204 Acc Unit ms 1000rpm Pr9 05 0x6205 Dec Unit ms 1000rpm Pr9 06 0x6206 Pause time Pause time after the command is stopped Pr9 07...

Page 45: ...upler on off means signal input off PR path SI1 ADD0 SI2 ADD1 SI3 ADD2 SI4 ADD3 SI5 CTRG Path 0 off off off off on Path 1 on off off off on Path 2 off on off off on Path 3 on on off off on Path 4 off off on off on Path 5 on off on off on Path 6 off on on off on Path 7 on on on off on Path 8 off off off on on Path 9 on off off on on Path 10 off on off on on Path 11 on on off on on Path 12 off off o...

Page 46: ...hs 5 and 9 set path 5 to jump to path 9 Multi segment jump path sequence diagram Continuous movement The bit5 of Pr9 00 is 0 which does not overlap the continuous path As shown in the figure below set PR1 PR path1 and PR2 PR path2 to run continuously and PR1 jump There is no in position signal in the intermediate delay from PR1 jump to PR2 ...

Page 47: ...t 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 PR path1 to run PR2 PR oath2 Interrupt function timing sequence 5 5 Trigger Methods 5 5 1 CTRG Trigger When the path triggered by CTRG it can be configured for rising edge triggering or double edge triggering No falling ed...

Page 48: ...hen CTRG SI1 and SI2 are all on the path 3 is triggered As shown in the table below on means signal input on off means signal input off IO running path SI1 ADD0 SI2 ADD1 SI5 CTRG Path 0 off off on Path 1 on off on Path 2 off on on Path 3 on on on 5 5 2 IO Combination Trigger The configuration is done by the parameter Pr8 26 Combination trigger mode With the IO combination trigger there is no need ...

Page 49: ...n Recommended Steps as below 1 Firstly configure required homing and path it can be set through controller PLC software after power on or through Leadshine 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 r...

Page 50: ...C 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 10 11 Pr9 01 High position XXXX 12 13 Pr9 02 Low position XXXX 14 15 Pr9 03 velocity XXXX 16 17 Pr9 04 Acceleration XXXX 18 19 Pr9 05 Deceleration XXXX 20 21 Pr9 0...

Page 51: ...3 10 which 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 tunin...

Page 52: ...CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual 45 5 Basic parameter setting 6 Input and output function and polarity setting ...

Page 53: ...ers click 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 54: ...er Manual 47 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 55: ...ick to download 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 56: ... control the 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 57: ...D Function 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 0...

Page 58: ...d value 01 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 D...

Page 59: ...osition loop KpH Usually keep default 0 3000 0 0x00A1 Pr2 00 Command filter time To configure the time for internal command filtering 0 512 15 0 1ms 0x00A3 Pr2 01 Velocity switching point open loop to closed loop Usually keep the default value Only change it when it causes motor vibration at this mode switching velocity point 0 200 18 0 1RPS 0x00A5 Pr2 02 Velocity switching point closed loop to op...

Page 60: ...mally 0 1500 200 1ms 0x019F Pr5 07 Rising time of shaft locked current power on Keep default normally 1 60 1 100ms 0x01A5 Pr5 10 The max stop time Keep default normally 100 1000 1000 ms 0x01AB Pr5 13 Auto tuning at power on 0 disable 1 enable 0 1 1 0x01BD Pr5 22 RS485 baud rate 0 2400 1 4800 2 9600 default 3 19200 4 38400 factory 5 57600 6 115200 When SW6 and SW7 are all OFF it can be set by PC so...

Page 61: ...ontrol function Bit0 CTRG effective edge 0 rising edge 1 double edges Bit1 Soft limit 0 disable 1 enable Bit2 Homing after power on 0 no 1 yes Bit4 CTRG trigger type 0 refer to bit0 1 level trigger Pr8 02 0x6002 PR control register 1 Write commands to 0x6002 to select and trigger each action Write 0x1P P 0 15 run the path P motion Write 0x20 homing Write 0x21 manually set to zero position Write 0x...

Page 62: ...ead only High 16 bit 0 65535 it will be cleared after successful homing Pr8 43 0x602B Profile position L Read only Low 16 bit 0 65535 it will be cleared after successful homing Pr8 44 0x602C Actual position H Read only High 16 bit 0 65535 it will be cleared after successful homing Pr8 45 0x602D Actual position H Read only Low 16 bit 0 65535 it will be cleared after successful homing Pr8 48 0x6030 ...

Page 63: ...pecial parameter Pr9 16 0x6210 Motion of Path 2 Pr9 17 0x6211 Position H Pr9 18 0x6212 Position L Pr9 19 0x6213 velocity Pr9 20 0x6214 Acc Pr9 21 0x6215 Dec Pr9 22 0x6216 Pause time Pr9 23 0x6217 Special parameter Pr9 24 Pr9 31 Similar as above paths Similar as above paths Each path has 8 data Pr9 32 Pr9 39 Similar as above paths Similar as above paths Each path has 8 data Pr9 40 Pr9 47 Similar as...

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