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CLRS Series RS485 Closed Loop Stepper Drive User Manual
Relevant objects:
Register
address
Par. # in
software
Definition
Range Default Value Description
0x6017
Pr8.23
Quick stop time
Deceleration time after quick stop, unit: ms
0x6002
Pr8.02
Trigger register
Write value 0x040---- E-stop;
5.4 PR Path
The PR path can be run with single segment movement or continuous movement, which includes three operation
modes: position mode, velocity mode and homing mode. There are 16 PR paths, and each path sets the
operation modes, the target position, the target velocity, the acceleration and deceleration and the pause time,
etc.
5.4.1 PR Parameters
Usually it is recommended using the PTP window of the STEPPERONLINE tuning software to configure the PR
path parameters, but it can also use the following objects:
Par. # in software
Register Address
Definition
Description
Pr9.00
0x6200
PR path 0
The corresponding functions can be selected for different
bit
Bit0-3: Operation mode
=0---- no action
=1---- position mode
=2---- velocity mode
=3---- homing mode;
Bit4: INS,
=0---- No interrupt
=1---- interrupt(all the current ones are 1.);
Bit5: OVLP,
=0---- Non overlapping
=1---- Overlapping
Bit6:
=0----absolute position
=1----relative position
Bit8-13: Jump to the corresponding PR path 0-15;
bit14: JUMP,
=0---- No jump
=1---- jump
Pr9.01
0x6201
Position H
High 16 bit,
Pr9.02
0x6202
Position L
Low 16 bit
Pr9.03
0x6203
velocity
Unit: rpm
Pr9.04
0x6204
Acc
Unit: ms/1000rpm
Pr9.05
0x6205
Dec
Unit: ms/1000rpm
Pr9.06
0x6206
Pause time
Pause time after the command is stopped
Pr9.07
0x6207
Special parameter
PR Path 0 maps directly to Pr8.02, Others are reserved
Pr9.08
0x6208
PR path 1
---
Pr9.09
0x6209
Position
---
Pr9.10
0x620A
Position
---
Pr9.11
0x620B
velocity
---
Pr9.12
0x620C
Acc
---
Pr9.13
0x620D
Dec
---
Pr9.14
0x620E
Pause time
---
Pr9.15
0x620F
Special parameter
---
Pr9.16
0x6210
PR path 2
---
Pr9.17
0x6211
Position
---
Pr9.18
0x6212
Position
---
Pr9.19
0x6213
velocity
---
Pr9.20
0x6214
Acc
---
Pr9.21
0x6215
Dec
---
Pr9.22
0x6216
Pause time
---
