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CLRS Series RS485 Closed Loop Stepper Drive User Manual
5.5.4 Immediate Trigger
The immediate trigger method means that each time the current path 0(PR0) is written, the run of PR0 is triggered
in real time. The position & velocity& homing and so on are achieved through one data frame. This method uses
PR0 to implement, which has 8 data, the last parameter Pr9.07 is mapped to Pr8.02, writing value 0x10 to it will
trigger PR0 motion immediately, thus realizing the immediate trigger operation.
Order Sending message (Master->Slave) Return message (Slave->Master)
1 ID Slave ID. 0-31 ID Sub-station No. 0-31
2 FC Function code 0x10 FC Function code 0x10
3
ADDR Address
0x62
ADDR Address
0x62
4 0x00 0x00
5
NUM1 Number of Word
0x00
NUM
Actually written
Number of
0x00
6 0x08 0x08
7 NUM2 Number of Byte 0x10 CRC check code
Lo
Hi
8-9
Pr9.00
Mode XXXX
10-11 Pr9.01 High position XXXX
12-13 Pr9.02 Low position XXXX
14-15 Pr9.03 velocity XXXX
16-17 Pr9.04 Acceleration XXXX
18-19 Pr9.05 Deceleration XXXX
20-21 Pr9.06 Delay time XXXX
22-23 Pr9.07 Trigger control 0x0010
24
CRC Check code
Lo
25 Hi
For example:
PR0: velocity 200 rpm, distance 10000 p
Master sending: 07 10 62 00 00 08 10 00 01 00 00 27 10 00 00 27 10 27 10 00 00 00 10 8D 50
Drive return: 07 10 62 00 00 08 DE 11