Leadshine Technology EM2RS Series, Руководство пользователя

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EM2RS Modbus RS485 Stepper Drive User Manual
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Reserved bit, write 0 by default
Register Value Filtering time (unit: ms)
0000 10
0001 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 input port 1 is set to enable function. Normally closed. Filter time 50ms
The register value is configured as 0000 1100 1000 1000, which is converted to 3208 in decimal, i.e. write 3208 to Pr4.02 to
achieve the above configuration.
Example 2: IO input port 1 is set to enable function. 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 achieve
the above configuration.
4.3.4 Status Monitoring Parameters
Register address Definition
Attribut
es
Unit Description
0x1001 Control Mode R / Invalid, always “0”
0x1003 Motion state R /
Bit0: 0--normally, 1--faulty;
Bit1: 0--drive disable, 1--enable;
Bit2: 0--not running, 1--running;
Bit4: 0-- Command not completed,
1-- Command completed;
Bit5: 0-- Path not completed,
1-- Path completed;
Bit6: 0--Homing not completed,
1--Homing completed.
0x1010 (high 16-bit)
0x1011 (low 16-bit)
Position following error R pulses -
0x1012 (high 16-bit)
0x1013 (low 16-bit)
Profile position R pulses -
0x1014 (high 16-bit)
0x1015 (low 16-bit)
Feedback position R pluses -