CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual
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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
# Bit
bit15
bit8-10
bit7
bit0-2
Description
Whether the S code is valid at the
time of completion:
0: Invalid, keep last value
1: Effective (Recommended)
S-code at
completion
Whether the start S code is
valid or not:
0: Invalid
1: Effective (Recommended)
S-code at start -up
bit7 and bit15 are set to 1.
The rest of the unused bits are 0, such as bits 11-14, bits 3-6.
CS2RS series drivers have only 3 outputs, and the S-code can only use 3 bits, each bit corresponds to an output. Therefore,
there are only 8 output combinations (000, 001, 010, 011, 100, 101, 110, 111), and these 8 states can be set freely, depending on
the requirements.
Example:
Here is an example of paths 1-4:
All output ports are set to normally open.
“1” indicates that the output optocoupler is switched on.
“0” indicates that the output optocoupler is switched off.
“001” means that output port 1 is on, and outputs 2 and 3 are not on.
Pr8.28: S-code current output value; register address: 0x601C.
