II
4.2.1 Read Holding Registers FC= 03 ........................................................................................15
4.2.2 Preset Single Register FC= 06 .......................................................................................... 16
4.2.3 Preset Multiple Registers FC= 10 ......................................................................................17
4.3.1 Basic Parameters...............................................................................................................18
4.3.2 Input and Output Parameters ............................................................................................ 20
4.3.3 Smooth Filter Time Setting for Digital Inputs .....................................................................21
4.3.4 Status Monitoring Parameters ........................................................................................... 22
4.3.5 Control Word and Status Word..........................................................................................23
4.4.1 Communication Error Codes ............................................................................................. 23
4.4.2 Drive Alarm Codes and Troubleshooting ...........................................................................24
4.4.3 Error Clear ..........................................................................................................................25
4.5 Register Mapping Continuous Read/Write Function ................................................................... 25
4.6 S-code Application ........................................................................................................................27
4.7 Enable Drive ................................................................................................................................. 28
5.2.1 Homing Parameters ........................................................................................................... 30
5.2.2. Homing by Home Switch...................................................................................................31
5.2.3. Homing by Limit Switch .....................................................................................................33
5.3.1 Soft Limit .............................................................................................................................34
5.3.2 JOG .................................................................................................................................... 34
5.3.3 Quick Stop ..........................................................................................................................36
5.4.1 PR Parameters ...................................................................................................................36
5.4.2 PR Path Configuration ....................................................................................................... 37
5.4.3 Other functions of PR .........................................................................................................38
5.5.1 CTRG Trigger ..................................................................................................................... 40
5.5.2 IO Combination Trigger ......................................................................................................41
5.5.3 Fixed Trigger ...................................................................................................................... 41
5.5.4 Immediate Trigger .............................................................................................................. 42
