- 41 -
CLRS Series RS485 Closed Loop Stepper Drive User Manual
Par. #
Register
address
Definition
Description
Pr8.00
0x6000 PR control setting
Global Control function of PR:
Bit0: CTRG
=0: Rising edge trigger
=1: Double edge trigger;
Bit1:
=0: Soft limit is invalid
=1: Soft limit is valid;
Bit2:
=0: homing after power up is invalid
=1: homing after power up is valid;
For example: 4-segment PR path
The CTRG trigger method requires not only the configuration of the required number of paths, but also the setting of
an additional input to the CTRG signal
SI4 is set to enable input by default, normally closed.
SI1 is set to ADD0. normally open,
SI2 is set to ADD1, normally open,
Set SI5 as trigger (CTRG).
When CTRG is on, SI1 and SI2 are off, the path 0 is triggered;
When CTRG and SI1are on, and SI2 is off, the path 1 is triggered;
When CTRG and SI2 are on, and SI1 is off, the path 2 is triggered;
When CTRG, SI1 and SI2 are all on, the path 3 is triggered.
As shown in the table below, on means signal input on,off means signal input off
IO/running path
SI1
(ADD0)
SI2
(ADD1)
SI5
(CTRG)
Path 0
off
off
on
Path 1
on
off
on
Path 2
off
on
on
Path 3
on
on
on
5.5.2 IO Combination Trigger
The configuration is done by the parameter Pr8.26 Combination trigger mode. With the IO combination trigger, there
is no need to set one digital input as the trigger signal (CTRG), which saves IO port and makes the control simpler.
After programming the path number, the path can be triggered directly by ADD0-ADD3.
(In this mode, PR0 is not
available.)
The parameter Pr8.26=2 enables this function.
Par. #
Register
address
Definition
Description
Pr8.26
0x601A
IO combination
trigger method
0: Turn off IO combination trigger
1: Enable IO combination trigger, return to zero OK to be
effective
2: Enable IO combination trigger, no need to return to zero
For example: 3-Segment PR Path
Path configuration example:
SI1 is set to enable input by default, normally closed.
SI2 is set to ADD0, normally closed, means ADD0 is “on”.
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.
