StepperOnline RS485, Руководство пользователя

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Modbus RS485 Stepper Drive User Manual
52
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
0x0005 Pr0.02 Control mode source Invalid 0-10 1 --
0x0007 Pr0.03 Motor direction
0:CW
1:CCW
0-1 0 --
0x0009 Pr0.04
Motor inductance Invalid
0-10000 1499 0.001mH
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 --
0x00A1 Pr2.00 Command filter time
To configure the time for internal command
filtering
0-512 15 0.1ms
0x0145 Pr4.02
DI1(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
DI1 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
DI2(input 2)
0-65535 0 --
0x0149 Pr4.04
DI3(input 3)
0-65535 0 --
0x014B Pr4.05
DI4(input 4)
0-65535 0 --
0x014D Pr4.06
DI5(input 5)
0-65535 0 --
0x014F Pr4.07
DI6(input 6)
0-65535 0 --
0x0151 Pr4.08
DI7(input 7)
0-65535 0 --
0x0157 Pr4.11
DO1(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;
0x23: in-position completed;
0x24: brake output;
0x25: alarm output;
0-65535 0 --
0x0159 Pr4.12
DO2(output 2)
0-65535 0 --
0x015B Pr4.13
DO3(output 3)
0-65535 0 --
0x0167 Pr4.19
Delay of brake released Keep default normally
0-1500 250 ms
0x0169 Pr4.20
Delay of brake locked Keep default normally
0-1500 250 ms
0x016B Pr4.21
Threshold value of brake
locking velocity
Keep default normally
0-500 10 --
0x016D Pr4.22 Alarm detection selection
Bit setting:
=1: Yes; =0: No
bit0: over-current ( Cannot be changed)
bit1: over-voltage
bit3: ADC sampling failure
bit4: Locked shaft alarm
bit5: EEPROM alarm
bit6: Auto-tuning alarm
0-65535 0 --
0x0177 Pr4.27 Bus voltage 0-65535 0 0.1V
0x0179 Pr4.28 Digital input statue Bit0-Bit6: DI1-DI7 0-65535 0 --
0x017B Pr4.29 Digital output statue Bit0-Bit2: DO1-DO3 0-65535 0 --
0x0187 Pr4.35 DIP switches statue 0-65535 0 --
0x0191 Pr5.00 Peak current
Approximately equal to motor phase current
value multiplied by 1.4
522: 0-22
556: 0-56
870: 0-70
882: 0-82
10 0.1A