iEM-RS Series Modbus RS485 Integrated Stepper Motor
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After triggering SI3, then SI2, SI3, SI4 are “on, on, off”, the path 3 is triggered.
After triggering SI3 and SI4, then SI2, SI3, SI4 are “on, on, on”, the path 7 is triggered.
If SI2 and SI3 are “off”, and only SI1 is “on”, the path 1 is triggered. If the velocity of path 1 is 0, i.e. the motor stops
immediately.
Path number
SI2(ADD0)
SI3(ADD1)
SI4(ADD2)
Path 1
ON
OFF
OFF
Path 2
OFF
ON
OFF
Path 3
ON
ON
OFF
Path 4
OFF
OFF
ON
Path 5
ON
OFF
ON
Path 6
OFF
ON
ON
Path 7
ON
ON
ON
Note: “on” the input signal optocoupler on, “off”means signal optocoupler off.
5.5.3 Fixed Trigger
Fixed trigger mode is after configuring homing and path (less than 16-segment), then use Pr8.02( 0x6002) to start the operation
path which replace IO functions of CTRG and HOME. This method is suitable for systems with fixed and simple motion.
(Recommended).
Steps as below:
1. Firstly, configure required homing and path, it can be set through controller/PLC software after power-on , or through
Leadshine PC software;
2. Enable drive;
3. Write corresponding command to the 0x6002 to realize the selection and startup of each action.
Par. #
Register
address
Definition
Description
Pr8.02
0x6002
Trigger register
Write corresponding command to the 0x6002 to realize the selection
and startup of each action.
Write value 0x01P----P-segment positioning, (P indicates path #0-15);
Write value 0x020---- Homing; (edge triggered)
Write value 0x021---- Set the current position as origin by manual;
Write value 0x040---- E-stop;
Read value 0x000---- Positioning is completed and new data can be
received;
Read value 0x01P, 0x020, 0x040---- Not responding to the command;
Read value 0x10P---- Path is running;
Read value 0x200---- Command is completed and waiting for
positioning.
Note: (P indicates path NO. 0-15);
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.
