StepperOnline CL57RS, Руководство пользователя

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CLRS Series RS485 Closed Loop Stepper Drive User Manual
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
- - --
2. PR Parameters:
PR parameter data type is 16-bit data, one parameter occupies one register (one 16-bit register = 2 8-bit bytes).
Parameter NO.
in PC software
Register Address Name Description
Pr8.00 0x6000 PR global control function
Bit0: CTRG effective edge. 0--rising edge, 1--double edges
Bit1: Soft limit..
0--disable, 1--enable
Bit2: Homing after power on. 0--no, 1--yes
Bit4: CTRG trigger type. 0--refer to bit0, 1--level trigger
Pr8.02 0x6002 PR control register
(1) Write commands to 0x6002 to select and trigger each action:
Write 0x1P (“P” = 0-15 ), run the path P motion;
Write 0x20, homing;
Write 0x21, manually set to zero position;
Write 0x40, quick stop;
(2) Read 0x6002 can check the running path NO. and status:
Return “0x000P”, path P motion complete, can receive new motion
command;
Return “0x001P or 0020 or 0040”, not yet responding to commands;
Return 0x010P, path P motion is running;
Return 0x0200, command completed and waiting for positioning;
Return 0x020P, a position following error during path P;
Pr8.06 0x6006
Limit+ H Soft limit positive high bits
Pr8.07 0x6007
Limit+ L Soft limit positive low bits
Pr8.08 0x6008
Limit- H Soft limit negative high bits
Pr8.09 0x6009
Limit- L Soft limit negative low bits