Position Limit, Jog And E-Stop Function - Leadshine CS2RS Series User Manual

5.3 Position limit, JOG and E-stop function

Register Par. # in
address software
0x6000 Pr8.00
Pr8.01
0x6002 Pr8.02
0x6006 Pr8.06
0x6007 Pr8.07
0x6008 Pr8.08
0x6009 Pr8.09
0x600A Pr8.10
Pr8.11
0x600B
Pr8.12
0x600C
Pr8.13
0x600D
Pr8.14
0x600E
CS2RS Series RS485 Closed Loop Stepper Drive User Manual
Definition Range
PR global control
0-3
function (CTRG)
PR path segment 16
Control register
0
input
Limit+ H 32767
Limit+ L 32767
Limit- H 32767
Limit- L 32767
Homing mode
Origin signal
32767
position high bits
Origin signal low
32767
bits
Homing stop
32767
position high bits
Homing stop
32767
position low bits
Default
Description
Value
Bit0: CTRG effective edge. 0--rising edge, 1--falling edge
Bit1: Software limit..
0
Bit2: Homing after power on. 0--no, 1--yes
Bit4: CTRG trigger type. 0--refer to bit0, 1--level trigger
16-segment
Write 0x1P ("P" = 0-15 ), run the path P motion;
Write 0x20, homing;
Write 0x21, manually set to origin position;
Write 0x40, quick stop;
0 Read 0x6002 can check the running path # and status ,(1) if
return "0x000P", it means the path P motion complete, can
receive new motion command; (2) if return 0x010P, it means
the path P motion is running; (3) if return 0x020P, it means a
position following error during path P operation
0x7FFF Software limit positive high bits
0xFFFF Software limit positive low bits
0x8000 Software limit negative high bits
0 Software limit negative low bits
Bit0: homing direction, 0--CW, 1--CCW;
Bit1: Whether to move to the specified position after homing,
0--no, 1--yes;
0 Bit2-Bit7: homing method, 0--limit switch homing, 1--origin
homing, 2-- Z signal homing, 3-- reserved, 8--manually return
to zero immediately;
Bit8: homing with Z signal (index signal), 0--no, 1--yes.
0
The origin signal position on the coordinate system .
Pr8.11 is high 16 bits, and Pr8.12 is low 16 bits
0
0 The motor moves to the Specified position after homing. If
bit1 of Pr8.10=1, the motor will move to Specified absolute
position. Pr813 is high 16 bits , and Pr814 is low 16 bits.
0
36
0--disable, 1--enable