iEM-RS Series Modbus RS485 Integrated Stepper Motor
19
0x1013 (low 16-bit)
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.
4.4 Error Codes and Troubleshooting
4.4.1 Communication Error Codes
When the master station receives a message from the slave about a communication error, you can follow the table below for
analysis
No.
Return Commands (slave->master)
Symbols
Description
Content
1
ID
Slave ID
0-31
2
FC
Function code
FC+0x80
3
EC
Error Code
-
4
CRC
check code
Low
High
Error code:
Error Code (EC)
Description
0x01
Wrong FC (This supports FC beside of 03h/ 06h/ 10h)
