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CLRS Series RS485 Closed Loop Stepper Drive User Manual
DI2=0x29 (means path 1);
(2) The data type of parameter is 32bit, which include high 16bit register and low 16bit register, usually we use low
16bits only, but it needs to take the high 16 bits as beginning when we read/write multiple parameters continuously.
4.3 Modbus & PR Parameters
4.3.1 Basic Parameters
STEPPERONLINE RS485 parameter data type is 32 bits, a parameter contains two registers of high 16 bits and
low 16 bits, only the lower 16 bits are used in practice. However, when reading or writing multiple parameters in
succession, the high 16 bits of the parameter need to be used as the start, usually 00.
Register
Address
Softwar
e Par. #
Name
Description
Range
Default
Value
Unit
0x0001
Pr0.00
Pulse/revolution
10000
200-
51200
10000
P/R
0x0003
Pr0.01
Control Mode
Value “0” for open loop;
Value “2” for closed loop;
Value “1” is reserved.
0-255
2
--
0x0007
Pr0.03
Motor direction
0: CW
1: CCW
0-1
0
--
0x0009
Pr0.04
Motor inductance
Invalid
0-10000
1499
0.001m
H
0x000B
Pr0.05
Allowed max position
following error
It’s used to set the allowed max pulse count
of position errors.
0-65535
4000
CPR
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
--
0x0051
Pr1.00
Position loop Kp
Increase this value will reduce position
following error, but could result in motor
vibration
0-3000
507:25
1008: 45
--
0x0053
Pr1.01
Velocity loop Ki
This parameter is used for tuning Velocity
loop proportional gain.
0-3000
3
--
0x0055
Pr1.02
Velocity loop Kp
Increase the value can increase velocity
stiffness
0-3000
507: 25
1008: 45
--
0x0065
Pr1.10
Position loop KpH
Usually keep default
0-3000
0
--
0x00A1
Pr2.00
Command filter time
To configure the time for internal command
filtering
0-512
15
0.1ms
0x00A3
Pr2.01
Velocity switching point:
open loop to closed loop
Usually keep the default value.
Only change it when it causes motor
vibration at this mode switching velocity
point.
0-200
18
0.1RPS
0x00A5
Pr2.02
Velocity switching point:
closed loop to open loop
Usually keep the default value.
0-200
12
0.1RPS
0x00A7
Pr2.03
Delay time of open loop
to closed loop
Usually keep the default value.
0-32767
5
ms
0x00A9
Pr2.04
Delay time of closed loop
to open loop
Usually keep the default value.
0-32767
250
ms
0x0145
Pr4.02
SI1(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
SI1 is enable(default), N.C type input.
0: invalid; 7: alarm clearing;
8: enable (also can be set by 0x00F);
0x20: Trigger command (CTRG);
0x21: Trigger homing;
0x22: EMG (quick stop);
0x23: JOG+;
0x24: JOG-;
0x25: POT (positive limit);
0-65535
136
(0x88)
--
0x0147
Pr4.03
SI2(input 2)
0-65535
0
--
0x0149
Pr4.04
SI3(input 3)
0-65535
0
--
0x014B
Pr4.05
SI4(input 4)
0-65535
0
--
0x014D
Pr4.06
SI5(input 5)
0-65535
0
--
