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CLRS Series RS485 Closed Loop Stepper Drive User Manual
Pr4.02 to achieve the above configuration.
Routine 3: IO input port 7 is set to JOG2 function. Normally open. Filter time 500ms
The register configuration is 0000 1111 0010 1100, which is converted to 3884 in decimal, i.e. write 3884 to Pr4.08
to achieve the above configuration.
4.3.4 Status Monitoring Parameters
Register address Definition
Attribut
es
Unit Description
0x1001 Control Mode R / Invalid, always “0”
0x1003 Motion state R /
Bit0: 0--normally, 1--faulty;
Bit1: 0--drive disable, 1--enable;
Bit2: 0--not running, 1--running;
Bit4: 0-- Command not completed,
1-- Command completed;
Bit5: 0-- Path not completed,
1-- Path completed;
Bit6: 0--Homing not completed,
1--Homing completed.
0x1010 (high 16-bit)
0x1011 (low 16-bit)
Position following error R pulses -
0x1012 (high 16-bit)
0x1013 (low 16-bit)
Profile position R pulses -
0x1014 (high 16-bit)
0x1015 (low 16-bit)
Feedback position R pluses -
0x1044 (high 16-bit)
0x1045 (low 16-bit)
Profile velocity R rpm -
0x1046 (high 16-bit)
0x1047 (low 16-bit)
Feedback velocity R rpm -
4.3.5 Control Word and Status Word
(1) The related function is started by sending the control word,
(2) The completion is judged by checking the status word. The status word is automatically returned to its initial
state after it is read.

Control Word
Register address Definition Attributes Description
0x1801 Control word W/S
Write 0x1111: Reset current alarm
Write 0x1122: Reset history alarm
Write 0x2211: Save all parameters to EEPROM
Write 0x2222: Parameter reset (exclude motor parameters)
Write 0x2233: All parameters are reset to factory
Write 0x2244: Save all mapping parameters into EEPROM
Write 0x4001: JO
G C W (Need to write once at least 50ms)
Write 0x4002: JO G CC W

Status Word of Saving Parameter
Register address Definition Attributes Description
0x1901
status word
R
Show 0x5555: Saving parameter OK
Show 0xAAAA: Saving parameter fault
Note: (1) The read value is 0x1111 when no save instruction has been executed after the first power-up;
(2) The first read value is 0x5555 after a save instruction is executed, and then it changes back to 0x1111.