iEM-RS Series Modbus RS485 Integrated Stepper Motor
48
Pr8.02
0x6002
PR control register
(1) Write commands to 0x6002 to select and trigger each action:
Write 0x1P (“P” = 0-15 ), run the path P motion;
Write 0x20, homing;
Write 0x21, manually set to zero position;
Write 0x40, quick stop;
(2) Read 0x6002 can check the running path NO. and status:
Return “0x000P”, path P motion complete, can receive new motion command;
Return “0x001P or 0020 or 0040”, not yet responding to commands;
Return 0x010P, path P motion is running;
Return 0x0200, command completed and waiting for positioning;
Return 0x020P, a position following error during path P;
Pr8.06
0x6006
Limit+ H
Soft limit positive high bits
Pr8.07
0x6007
Limit+ L
Soft limit positive low bits
Pr8.08
0x6008
Limit- H
Soft limit negative high bits
Pr8.09
0x6009
Limit- L
Soft limit negative low bits
Pr8.10
0x600A
Homing mode
Bit0: homing direction, 0--CW, 1--CCW;
Bit1: Whether to move to the specified position after homing, 0--no, 1--yes;
Bit2: homing method, 0--limit switch homing, 1--home switch homing,
Note:
(1) Write 0x21 to 0x6002, manually set the current point to zero position)
(2) Other methods are not valid
Pr8.15
0x600F
Homing high velocity
The 1
st
segment velocity of homing, unit: rpm
Pr8.16
0x6010
Homing low velocity
The 2
nd
segment velocity of homing, unit: rpm
Pr8.17
0x6011
Homing Acc
Acc of homing, unit: ms/1000rpm
Pr8.18
0x6012
Homing Dec
Dec of homing, unit: ms/1000rpm
Pr8.19
0x6015
Homing over-travel
If setting a value, the motor stops when reaches this set distance even if homing is
not completed.
Pr8.22
0x6016
Limit switch Dec. time
Deceleration time after reaching limit switch, unit: ms
Pr8.23
0x6017
STOP time
Deceleration time after quick stop, unit: ms
Pr8.26
0x601A
IO combination trigger mode
selection
0: Disable IO combination triggering (factory)
1: Enable IO combination triggering, activated after homing is completed
2: Enable IO combination triggering, nothing to do with homing (recommended)
Pr8.27
0x601B
IO combination filter time
Unit: ms
Pr8.28
0x601C
S code current output value
--
Pr8.29
0x601D
Read PR Warning
0: Automatic zeroing of new commands
0x100: Limit switch error during homing
0x102: Homing over-travel error
0x20P: Limit switch error in Path P (P=1-15)
Pr8.38
0x6026
JOG velocity 2
JOG triggered by external I/O signal, Unit: rpm
Pr8.39
0x6027
JOG velocity
Unit: rpm
Pr8.40
0x6028
JOG Acceleration
Unit: ms/1000rpm
Pr8.41
0x6029
JOG Deceleration
Unit: ms/1000rpm
Pr8.42
0x602A
Profile position H
Read only. High 16-bit (0-65535)
, it
will be cleared after successful homing
Pr8.43
0x602B
Profile position L
Read only. Low 16-bit (0-65535)
, it
will be cleared after successful homing
Pr8.44
0x602C
Actual position H
Read only. High 16-bit (0-65535)
, it
will be cleared after successful homing
Pr8.45
0x602D
Actual position H
Read only. Low 16-bit (0-65535)
, it
will be cleared after successful homing
Pr8.48
0x6030
S-code output setting for Path 0
Pr8.49
0x6031
S-code output setting for Path 1
Pr8.50
0x6032
S-code output setting for Path 2
Pr8.51
0x6033
S-code output setting for Path 3
Pr8.52
0x6034
S-code output setting for Path 4
Pr8.53
0x6035
S-code output setting for Path 5
Pr8.54
0x6036
S-code output setting for Path 6
Pr8.55
0x6037
S-code output setting for Path 7
Pr8.56
0x6038
S-code output setting for Path 8
Pr8.57
0x6039
S-code output setting for Path 9
Pr8.58
0x603A
S-code output setting for Path 10
Pr8.59
0x603B
S-code output setting for Path 11
Pr8.60
0x603C
S-code output setting for Path 12
Pr8.61
0x603D
S-code output setting for Path 13
