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Mode 2
– Position Control Mode
a) For position control mode the register values need to be set as per the below table. (The procedure for same
along with screenshots is provided after the table) refer below table settings and procedure is also explained
below
Slave ID
Address
Value(Hex)
Description
7
2
0200
Enters into Mode 2
7
16 (LSB)
For 334 lines per rotation
538 (334x4=1336 )
Units for command are in steps, so depends on the
lines per rotation of the encoder. This Hex Value
538 is for one rotation of encoder.
18 (MSB)
0
Units for command are in steps, so depends on the
lines per rotation of the encoder
7
2
0201
Enable the Motor. First set rotation of encoder then
enable motor
7
16(LSB)
18(MSB)
0000
Initial position
(Zero Position)
b) To prgram the address click the functions tab and click write singe register as per below image.
c) For Position control mode (mode 2) send Hex value 0200 to address 2 to enable this mode as per below
image.
