Immediately Trigger Method - Leadshine CS2RS Series User Manual

Steps as below:
1. Firstly, configure required homing and path, it can be set through controller/PLC software after power-on , or
through Leadshine PC software;
2. Enable drive;
3. Write corresponding command to the 0x6002 to realize the selection and startup of each action.
Write value 0x01P----P-segment positioning, (P indicates path NO. 0-15);
Write value 0x020---- Homing; (edge triggered)
Write value 0x021---- Set the current position as origin by manual;
Write value 0x040---- E-stop;
Read value 0x000---- Positioning is completed and new data can be received;
Read value 0x01P, 0x020, 0x040---- Not responding to the command; (P indicates path NO. 0-15)
Read value 0x10P---- Path is running; (P indicates path NO. 0-15)
Read value 0x200---- Command is completed and waiting for positioning.

5.4.2 Immediately trigger method

Fixed trigger is limited by 16-segment position, but immediately trigger method is more flexible, so that the
current path is written at the same time as it is triggered. And can realize position, speed , homing and such
actions by a data frame.
This method uses PR path0 which has 8 data in total to implement, the last data Pr9.07 of it will mapped to
Pr8.02, if write in 0x10 can trigger PR path0 motion immediately.
Steps as below:
1. Firstly, configure required homing and path, it can be set through controller/PLC software after power-on , or
through Leadshine PC software;
2. Enable drive.
3. Operate fixed path by Pr8.02 (0x6002)
4. Or write in immediate data by Pr9.00-9.07, and Pr9.07=0x10, implement immediately running path 0.
For example：
Order Sending orders (Master->Slave)
1 ID Slave ID.
FC
2 Function code
3
ADDR Address
4
5
NUM1
Number of Word
6
NUM2
7 Number of Byte
8-9 Pr9.00 Mode
CS2RS Series RS485 Closed Loop Stepper Drive User Manual
Return command (Slave->Master)
0-31 ID
FC
0x10
0x62
ADDR
0x00
0x00
NUM
0x08
CRC
0x10
XXXX
40
Sub-station No. 0-31
Function code 0x10
0x62
Address
0x00
0x00
Actually written
Number of
0x08
Lo
check code
Hi