Modbus RS485 Stepper Drive User Manual
18
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
0x0005
Pr0.02
Control mode source
Invalid
0-10
1
--
0x0007
Pr0.03
Motor direction
0: CW
1: CCW
0-1
0
--
0x0009
Pr0.04
Motor inductance
Invalid
0-10000
1499
0.001m
H
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
--
0x00A1
Pr2.00
Command filter time
To configure the time for internal command
filtering
0-512
15
0.1ms
0x0145
Pr4.02
DI1(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
DI1 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);
0x26: NOT (negative limit);
0x27: ORG (home switch);
0x28: ADD0 (path address 0);
0x29: ADD1 (path address 1);
0x2A: ADD2 (path address 2);
0x2B: ADD3 (path address 3);
0x2C: JOG velocity 2
0-65535
136
(0x88)
--
0x0147
Pr4.03
DI2(input 2)
0-65535
0
--
0x0149
Pr4.04
DI3(input 3)
0-65535
0
--
0x014B
Pr4.05
DI4(input 4)
0-65535
0
--
0x014D
Pr4.06
DI5(input 5)
0-65535
0
--
0x014F
Pr4.07
DI6(input 6)
0-65535
0
--
0x0151
Pr4.08
DI7(input 7)
0-65535
0
--
0x0157
Pr4.11
DO1(output 1)
Default is normal-open(N.O) type, it can be
set to normal-closed(N.C) type by setting the
corresponding port +0x80
0: invalid;
0x20: command completed;
0x21: path completed;
0x22: homing completed;
0x23: in-position completed;
0x24: brake output;
0x25: alarm output;
0-65535
0
--
0x0159
Pr4.12
DO2(output 2)
0-65535
0
--
0x015B
Pr4.13
DO3(output 3)
0-65535
0
--
0x0167
Pr4.19
Delay of brake released
Keep default normally
0-1500
250
ms
0x0169
Pr4.20
Delay of brake locked
Keep default normally
0-1500
250
ms
0x016B
Pr4.21
Threshold value of
brake locking velocity
Keep default normally
0-500
10
--
0x016D
Pr4.22
Alarm
detection
selection
Bit setting:
=1: Yes; =0: No
bit0: over-current ( Cannot be changed)
bit1: over-voltage
bit3: ADC sampling failure
0-65535
0
--
