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CLRS Series RS485 Closed Loop Stepper Drive User Manual
5.3 Soft Limit & JOG & Quick Stop
5.3.1 Soft Limit
The soft limit function means that the internal position feedback of the drive is compared with the limit position, an
alarm and stop when determining that the motor exceeds the limit position. Soft limit function is universal for linear
movement and rotating movement. It is not requiring hardware, eliminating malfunction due to poor wiring contact,
and it can prevent mechanical slip and abnormal action with internal position comparison. And the CLRS series
drives carry out homing to find the mechanical home before the soft limit function can be activated.
Relevant objects:
Register
address Par. # in
software
Definition Range
Default
Value
Description
0x6000 Pr8.00
PR control
setting
32767 - Bit1: Soft limit.. 0--disable, 1--enable
0x6006 Pr8.06 Soft limit+ H 32767 0x7FFF Soft limit positive high bits
0x6007 Pr8.07 Soft limit+ L 32767 0xFFFF Soft limit positive low bits
0x6008 Pr8.08 Soft limit- H 32767 0x8000 Soft limit negative high bits
0x6009 Pr8.09 Soft limit- L 32767 0 Soft limit negative low bits
0x6016 Pr8.22
Soft limit quick
stop time
- - Deceleration time after triggering the soft limit, unit: ms
5.3.2 JOG
The JOG function allows fine tuning of the drive, or fine adjustment of the position of the device, or forward and
reverse velocity operation of the motor. Commonly used for velocity operation.
JOG time sequence
Relevant objects:
Register
address
Par. # in software Definition Default Value Description
0x6026 Pr8.38 JOG 2 velocity 0
JOG triggered by external I/O signal, Unit: rpm
0x6027 Pr8.39 JOG 1 velocity 0
0x6028 Pr8.40 JOG Acceleration 0 Unit: ms/1000rpm
0x6029 Pr8.41 JOG Deceleration 0 Unit: ms/1000rpm
0x10E1 Pr6.00
JOG velocity
60
Unit: rpm
0x01E3 Pr6.01
Interval
100
Unit: ms
0x01E5 Pr6.02
Running times
1
Unit: ms/1000rpm
0x01E7 Pr6.03
Acc. / Dec. time
200
Unit: ms/1000rpm
Note:(1) Pr8.39 - Pr8.41(JOG) are available when triggered by I/O; (2) Pr6.00 - Pr6.03 (JOG) are available when
triggered by RS485.
The trigger mode of JOG is divided into two types: RS485 communication and IO, which correspond to different
parameter addresses: