Leadshine Technology EM2RS Series, Руководство пользователя

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EM2RS Modbus RS485 Stepper Drive User Manual
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Pr8.02 0x6002 Trigger register
Write corresponding command to the 0x6002 to realize the selection
and startup of each action.
Write value 0x01P----P-segment positioning, (P indicates path #0-15);
Write value 0x020---- Homing; (edge triggered)
Write value 0x021---- Set the current position as origin by manual;
Write value 0x040---- E-stop;
Read value 0x000---- Positioning is completed and new data can be
received;
Read value 0x01P, 0x020, 0x040---- Not responding to the command;
Read value 0x10P---- Path is running;
Read value 0x200---- Command is completed and waiting for
positioning.
Note: (P indicates path NO. 0-15);
5.5.4 Immediate Trigger
The immediate trigger method means that each time the current path 0(PR0) is written, the run of PR0 is triggered in real time.
The position & velocity& homing and so on are achieved through one data frame. This method uses PR0 to implement, which
has 8 data, the last parameter Pr9.07 is mapped to Pr8.02, writing value 0x10 to it will trigger PR0 motion immediately, thus
realizing the immediate trigger operation.
Order Sending message (Master->Slave) Return message (Slave->Master)
1 ID Slave ID. 0-31 ID Sub-station No. 0-31
2 FC 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 Pr9.06 Delay time XXXX
22-23
Pr9.07
Trigger control 0x0010
24
CRC Check code
Lo
25 Hi