StepperOnline CL57RS, User Manual

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CLRS Series RS485 Closed Loop Stepper Drive User Manual
0x23: in-position completed;
0x24: brake output;
0x25: alarm output;
0x015B Pr4.13
SO3(output 3)
0-65535 0 --
0x0167 Pr4.19
Delay of brake released Keep default normally
0-1500 250 ms
0x0169 Pr4.20
Delay of brake locked Keep default normally
0-1500 250 ms
0x016B Pr4.21
Threshold value of brake
locking velocity
Keep default normally
0-500 10 --
0x016D Pr4.22 Alarm detection selection
Bit setting:
=1: Yes; =0: No
bit0: over-current (Cannot be changed)
bit1: over-voltage
bit2: position following error
bit3: ADC sampling failure
bit4: Locked shaft alarm
bit5: EEPROM alarm
bit6: Auto-tuning alarm
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
Approximately equal to motor phase current
value multiplied by 1.2 -1.4
503: 3-30
507: 5-70
1008: 5-80
503: 25
507: 60
1008: 80
0.1A
0x0193 Pr5.01
Percentage of holding
current in closed-loop
mode
It is recommended to keep default, If the
torque is not enough, it can be increased
appropriately
0-100 50 %
0x0195 Pr5.02
Percentage of holding
current in open-loop mode
It is recommended to keep default, If the
torque is not enough, it can be increased
appropriately
0-100 50 %
0x0197 Pr5.03
Percentage of shaft locked
current(power on)
Keep default normally
0-100 100 --
0x0199 Pr5.04
Shaft locked duration Keep default normally
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 software.
0-6 4 --
0x01BF Pr5.23 RS485 ID
When SW1 - SW5 are all ON, it can be set by
PC software
0-127 1 --
0x01C1 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
0x01D3 Pr5.33
Standby current
percentage
0-100 50
0x01E1 Pr6.00 JOG velocity
This 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 0-32767 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