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CLRS Series RS485 Closed Loop Stepper Drive User Manual
Appendix A Parameters List
1. Modbus RTU Parameters
The STEPPERONLINE RS485 parameter data type is 32-bit data, and a parameter contains two registers, high 16
bits and low 16 bits, but in practice most parameters only need to use the low 16 bits. When reading and writing
multiple parameters in succession, the high 16 bits of the parameter need to be used as the start.
Register Address
Software
Parameter
No.
Name Description Range
Default
Value
Unit
0x0001 Pr0.00 Pulse/revolution
10000 200-51200
10000 P/R
0x0003 Pr0.01 Control Mode
Value “0” for open loop;
Value “2” for closed loop;
Value “1” is reserved.
0-255 2 --
0x0007 Pr0.03 Motor direction
0: CW
1: CCW
0-1 0 --
0x0009 Pr0.04
Motor inductance Invalid
0-10000 1499 0.001mH
0x000B Pr0.05
Allowed max position
following error
It’s used to set the allowed max pulse count of
position errors.
0-65535 4000 CPR
0x00F Pr0.07 Forced enable by software
Software forced enable has a higher priority
than IO enable, and when this value is 0, the
enable status of the drive only depends on the
IO signal. When this value is 1, the motor is
enabled regardless of the IO signal status.
0-1 0 --
0x0051 Pr1.00 Position loop Kp
Increase this value will reduce position
following error, but could result in motor
vibration
0-3000
507:25
1008: 45
--
0x0053 Pr1.01 Velocity loop Ki
This parameter is used for tuning Velocity loop
proportional gain.
0-3000 3 --
0x0055 Pr1.02 Velocity loop Kp
Increase the value can increase velocity
stiffness
0-3000
507: 25
1008: 45
--
0x0065 Pr1.10 Position loop KpH Usually keep default 0-3000 0 --
0x00A1 Pr2.00 Command filter time
To configure the time for internal command
filtering
0-512 15 0.1ms
0x00A3 Pr2.01
Velocity switching point:
open loop to closed loop
Usually keep the default value.
Only change it when it causes motor vibration
at this mode switching velocity point.
0-200 18 0.1RPS
0x00A5 Pr2.02
Velocity switching point:
closed loop to open loop
Usually keep the default value. 0-200 12 0.1RPS
0x00A7 Pr2.03
Delay time of open loop to
closed loop
Usually keep the default value. 0-32767 5 ms
0x00A9 Pr2.04
Delay time of closed loop
to open loop
Usually keep the default value. 0-32767 250 ms
0x0145 Pr4.02
SI1(input 1)
Default is normal-open(N.O) type, it can be set
to normal-closed(N.C) type by setting the
corresponding port +0x80
SI1 is enable(default), N.C type input.
0: invalid; 7: alarm clearing;
8: enable (also can be set by 0x00F);
0x20: Trigger command;
0x21: Trigger homing;
0x22: EMG (quick stop);
0x23: JOG+;
0x24: JOG-;
0x25: POT (positive limit);
0x26: NOT (negative limit);
0x27: ORG (home switch);
0x28: ADD0 (path address 0);
0x29: ADD1 (path address 1);
0x2A: ADD2 (path address 2);
0x2B: ADD3 (path address 3);
0x2C: JOG velocity 2
0-65535
136
(0x88)
--
0x0147 Pr4.03
SI2(input 2)
0-65535 0 --
0x0149 Pr4.04
SI3(input 3)
0-65535 0 --
0x014B Pr4.05
SI4(input 4)
0-65535 0 --
0x014D Pr4.06
SI5(input 5)
0-65535 0 --
0x014F Pr4.07
SI6(input 6)
0-65535 0 --
0x0151 Pr4.08
SI7(input 7)
0-65535 0 --
0x0157 Pr4.11
SO1(output 1)
Default is normal-open(N.O) type, it can be set
to normal-closed(N.C) type by setting the
corresponding port +0x80
0: invalid;
0x20: command completed;
0x21: path completed;
0x22: homing completed;
0-65535 0 --
0x0159 Pr4.12
SO2(output 2)
0-65535 0 --