Modbus Rtu Parameters; Drive Basic Parameters - Leadshine CS2RS Series User Manual

Message 01
Description Slave
ID
Slave>master data:
Message 01 10
Description Slave FC
ID
Note:
(1) In above example, modify the function of DI2 / DI3, and write the value as DI2=0x28 ( means path 0),
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
The data type of parameter is 32bit,which include high 16bit register and low 16bit register.usually , we use
low 16bits only , but it need to take the high 16 bits as beginning when we read/write multiple parameters
continuously.
Register Par. # in
Definition
Address software
0x0001 Pr0.00 Pulse/revolution
0x0003 Pr0.01 Control Mode
0x0007 Pr0.03 Motor direction
0x0009 Pr0.04 Motor inductance
Allowed max position
0x000B Pr0.05
following error
0x0051 Pr1.00 Position loop Kp
0x0053 Pr1.01 Velocity loop Ki
0x0055 Pr1.02 Velocity loop Kp
0x0065 Pr1.10 Position loop KpH
0x00A1 Pr2.00 Command filter time
Velocity switching
0x00A3 Pr2.01
point: open loop to
CS2RS Series RS485 Closed Loop Stepper Drive User Manual
10 01 46 00 04
First address
FC Number of
write
address write
01 46 00 04
First address Number
write address write
Description
The instructions required for the
motor to run a turn
Value"0" for open loop;
Value"2" for closed loop;
Value "1" is reserved.
0:CW
Invalid
It's used to set the allowed max
pulse count of position errors.
Increase this value will reduce
position following error, but could
result in motor vibration
This parameter is used for tuning
Velocity loop proportional gain.
Increase the value can increase
velocity stiffness
Usually keep default
To configure the time for internal
command filtering
Usually keep the default value.
Only change it when it causes
08 00 00, 00 28, 00 00, 00 29
Number Written value
of bytes
21 E3
of CRC
Range
200-51200
0-255
1:CCW 0-1
0-10000
0-65535
0-3000
0-3000
0-3000
0-3000
0-512
0-200
-20-
1C 14
CRC
Default Unit
10000 P/R
2 --
0 --
1499 0.001mH
4000 CPR
25 --
3 --
25 --
0 --
15 ms
18 0.1RPS