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CLRS Series RS485 Closed Loop Stepper Drive User Manual
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
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 --
0x0233 Pr7.01 Encoder resolution
Encoder resolution of closed-loop stepper
motor
0-20000 4000
CPR=4
*PPR
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
0x1003 - Motion status
Read only:
Bit NO.
Read value =1
means
Bit0 Fault
Bit1 Enable
Bit2 Running
Bit4 Command
completed
Bit5 Path completed
Bit6 Homing
completed
- --
0x1801 - Control word
Write
value
Function
0x1111 Reset current alarm
0x1122 Reset history alarm
0x2211
Save all parameters to
EEPROM
0x2222
Parameter reset(exclude
motor parameters)
0x2233
All parameters are reset
to factory
0x2244
Save all mappings into
EEPROM
0x4001
JO G C W (Need to write
once at least 50ms)
0x4002
JO G CC W (Need to
write once at least 50ms)
- - --
0x1901 -
Save parameter status
word
Read only
Read Value Means
0x5555 Save successfully
0xAAAA Failed to save
- - --
0x2203 - Current alarm
Read only
Error code Means
0x01 Over- current
0x02 Over- voltage
0x40
Current sampling
fault
0x80 Failed to lock shaft
0x200 EEPROM fault
0x100 Auto-tuning fault
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