62
User
Manual
for
ELD2
Servo
7.2 Parameter
PR parameters contain 8th and 9th parameters, 8th parameters is e-stop and control parameters, 9th
parameters is store path table.
7.2.1 8th sort parameters specification
No.
Name
Data
t
Range
Default Value
Definition
P8.0
PR control
setting
hex
0-3
0
PR 's global control function
Bit0
：
CTRG rising edge trigger / double edge trigger
，
0/1
Bit1
：
Software limit effectively
，
0 invalid /1 valid
Bit2
：
Homing after power on ,0 invalid /1 valid
P8.1
PR path section
number
16
16
0
Fixed 16 section
P8.2
Control
register input
hex
0
0
Write 0x1P
，
P section locate 16-31
Write 0x20
，
homing
Write 0x21
，
manual zero point setting
Write 0x40
，
e-stop
，
P insignificance 64
Read 0x00P
，
indicate positioning finished
，
can receive new data
Read 0x10P
，
In operation
Read 0x20P
，
In positioning
P8.3 Reserved
16 0
0
P8.4 Reserved
16 0
0
P8.5 Reserved
16 0
0
P8.6
Positive software
limit H
32 (+-2^31)
0x7FFF Positive software limit +high 16 bit, during homing
，
software limit
invalid.
P8.7
Positive software
limit L
0XFFFF Positive
software
limit
+low
16
bit,
P8.8
Negative
software limit H
32 (+-2^31)
0x8000 Negative software limit -high 16 bit, The precision of software
limit is 0.1 round
P8.9
Negative
software limit L
0
Negative software limit - low 16 bit
P8.10
Homing mode
hex
0
Homing mode,
Bit0
：
homing reverse, 0 reverse/1 forward
Bit1
：
Whether back to zero after homing, 0 No /1 Yes
Bit2-7
：
Homing mode
P8.11
Zero position H
32
(+-2^31)
0
Zero signal on coordinate axis.
Such as take positive limit as homing signal but take negative limit
as absolute position 0, then zero position is the distance between
positive/negative limit.
P8.12
Zero position L
0
P8.13
Homing
stop
position H
32
(+-2^31)
0
After homing
，
motor stop after move to appointed position. If
homing mode bit1 enable. Then moving to the absolute position
after homing.
P8.14
Homing stop
position L
0
P8.15 Homing
high
speed
16 1-6000
200 Homing
high
speed
P8.16 Homing
low
speed
16
1-6000
50
Homing creeping speed
