User Manual RS485 Stepper Drive
User Manual RS485 Stepper Drive
User Manual RS485 Stepper Drive
User Manual
EM2RS Series
RS485 Stepper Drive
Revision 1.0
Address: Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China
Support: tech@leadshine.com
EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Notice
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can
result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding
installation requirements.
This manual is not for use or disclosure outside of Leadshine except under permission. All rights are reserved. No
part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic,
mechanical, photocopying, recording, or otherwise without approval from Leadshine. While every precaution has
been taken in the preparation of the book, Leadshine assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained herein.
This document is proprietary information of Leadshine that is furnished for customer use ONLY. Information in
this document is subject to change without notice and does not represent a commitment on the part of Leadshine.
Therefore, information contained in this manual may be updated from time-to-time due to product improvements,
etc., and may not conform in every respect to former issues.
Record of Revisions
Reversion Data Description of Release Signed
Preface
Thank you for choosing EM2RS series RS485 closed loop stepper drive system of Leadshine Technology
Co., Ltd. This manual gives required knowledge & precautions for using EM2RS series closed loop stepper
drives.
EM2RS Series are closed loop stepper drive based on standard Modbus RTU protocol, using RS485
communication can network up to 31 axes, built-in single axis control function with 16-segment position
table (PR Mode). After programming the drives, the motion can be started by RS485 communication, or
external I/O, or HMI, which has the characteristics of simple use, stable and reliable, rich function and so
on.
<EM2RS Series RS485 Closed Loop Stepper Drive User Manual >
The user manual is about hardware, function description, Modbus communication protocol, object
dictionary, etc.
Please make sure to read carefully and refer to this specification after understanding the contents fully.
The user manual is coming soon, includes how to connect with Leadshine PC software, operation steps
and parameters configuration, etc. Customer also can configure object dictionary through master
station PC software.
Only technical personnel are allowed to install debug or maintain the product.
Incorrect voltage or power polar connection can cause damage to drive or other accidents.
Contents of this manual are subject to change without prior notice for functional improvement, change
of specifications or use’s better understandings.
Leadshine will not undertake any responsibility in case of user's unauthorized product changes
reconstruction, product warranty will also be invalid.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Contents
1 Introduction................................................................................................................................................... 6
1.1 Product Introduction.............................................................................................................................6
1.2 Features................................................................................................................................................ 6
1.3 Compare with Step/Direction...............................................................................................................6
1.4 Check of Product.................................................................................................................................. 6
1.4.1 Arrival inspection...................................................................................................................... 6
1.4.2 Nameplate information..............................................................................................................7
1.4.3 Part number............................................................................................................................... 7
1.4.4 Parts description........................................................................................................................ 7
1.4.5 Accessories Information............................................................................................................8
2 Installation......................................................................................................................................................8
2.1 Storage and Installation Conditions..................................................................................................... 8
2.1.1 Storage condition...................................................................................................................... 8
2.1.2 Operating ambience conditions.................................................................................................8
2.2 Mechanical Specification..................................................................................................................... 8
2.3 Installation Direction and Space.......................................................................................................... 9
3.1 Electrical and Operating Specifications.............................................................................................10
3.1.1 Electrical and Operating Specifications..................................................................................10
3.2 Wiring Instructions............................................................................................................................. 11
3.2.1 Power Supply Cable & Motor Cable...................................................................................... 11
3.2.2 I/O Signal Cable...................................................................................................................... 11
3.2.3 RS485 Communication Cable.................................................................................................12
3.3 Interface Specifications......................................................................................................................12
3.3.1 Connectors Definition............................................................................................................. 12
3.3.2 CN1-Input Power Connector.................................................................................................. 13
3.3.3 CN2-Motor Connector............................................................................................................ 13
3.3.5 CN4-RS485 Communication Connector................................................................................ 14
3.3.6 CN5-RS232 Tuning Port.........................................................................................................14
3.3.8 DIP Switches........................................................................................................................... 14
3.4 I/O Connection................................................................................................................................... 16
3.4.1 Digital Inputs...........................................................................................................................16
3.4.2 Digital Output..........................................................................................................................16
3.4.3 Brake Output........................................................................................................................... 16
4 Modbus RTU................................................................................................................................................18
4.1 Communication Specifications.......................................................................................................... 18
4.2 Function Codes...................................................................................................................................19
4.2.1 0x03-- Read single or multiple data........................................................................................19
4.2.2 0x06-- Write single data..........................................................................................................20
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
1 Introduction
EM2RS Series are stepper drive based on standard Modbus RTU protocol, using RS485 communication
can network up to 31 axes. They built-in PR feature with 16-segment position table (PR Mode) can save
additional controllers in most of point-to-point applications, to greatly enhance system reliability and
reduce the cost. EM2RS Series also support the feature of teaching, the operation modes of Profile Position,
Profile Velocity and Homing. They can power 2-phase NEMA 8, 11, 14, 17, 23, 24, 34 stepper motors.
The EM2RS series is highly reliable and affordable and performs excellently in many industrial
applications such as solar equipment, textile, civil, robotics, power generation equipment, 3C, packaging...
1.2 Features
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
CAUTION
Neither the damaged nor missing accessories of stepper system
is allowed to install.
Contact Leadshine or local distributor if any failure was found.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Need to
Name Necessary Picture Description
cost extra
(CABLE-TX*M*-BUS)
Optional length: 0.1m,
Network cable(3) Yes 0.2m, 0.3m, 0.4m, 1m, Yes
1.5m, 2m, 3m,5m,7m,
10m,15m, 20m
Note:
(1) Motor connector model: 39012040, 39000038, Molex
(2) Tuning cable is not necessary, you can also modify parameters by controller PC software.
(3) Network cable is necessary, but you can also buy shielded network cable through 3rd party.
2 Installation
Correctly packaged and store in a clean and dry environment where direct sunlight is avoided.
Store within an ambient temperature ranging from -20℃ to +65℃.
Store within a relative humidity ranging from 40% to 90% and non-condensed.
Avoid any type of exposure to corrosive gases.
2.1.2 Operating ambience conditions
Temperature ranging from 0℃ to 50℃. The ambient temperature of drive for long-term reliability
should be under 40℃. Please install the drive in a well-ventilated area.
Operation within a relative humidity ranging from 40% to 90% and non-condensed.
Vibration lower than 0.15mm at a frequency of 10Hz-55Hz.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
The mounting of drive, wiring and motor should be under the regulations of EN 61800-5-1.
Incorrect installation may result in a drive malfunction or premature failure of the drive and /or motor.
Please follow the guidelines in this manual when installing
The drive should be mounted perpendicular to the wall or in the control panel.
In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed
and sufficient free space is given to the drive, and a cooling fan is mounted in the control panel.
Please ensure grounding wires are securely connected.
50mm 50mm
50mm 30mm
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
3 Product Specifications
CAUTION Don’t hot plug the motor wiring, encoder wiring and RS232 communication
wiring during power on.
Be sure to check the connections and make sure the power lead polarity is correct,
or there could result in injury or fire.
Be sure wait for 5 minutes or longer to touch drives after turning off power
Be sure to give the power supply voltage dose not exceed the drive’s input range.
If using a motor with small phase current, be sure to modify the driver output
current before enabling the motor
EM2RS-D1008
Name EM2RS-522 EM2RS-556 EM2RS-D870
(coming soon)
Supply Voltage 20-50VDC 20-50VDC 20-72VDC 30-100VDC or 20-80VAC
Protection Functions Over Current, Over Voltage, Motor Cable Error, etc.
Operating
0-50℃ (32 F – 122 F)
Temperature
Vibration 10-55Hz/0.15mm
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Note:
(1) There are two RS485 communication ports above, one of them is input port which connects with master
station or previous slave, and the other is output port which connects with the following slave.
(2) Single-ended inputs I1, I2, I3, I4, I5, I6 and I7 connection types can be common-cathode and
common-anode.
(3) Single-ended outputs connection type is common-anode
Please connect surge absorber to inductive device, such as anti-parallel diode for DC coil, parallel
RC-snubbers circuit for AC coil.
It is recommended to use shielded Ethernet network cables that do not exceed 100 meters.
3.3 Interface Specifications
3.3.1 Connectors Definition
Name Description
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
1 A+ Motor phase A+
2 B+ Motor phase B+
CN2
3 A- Motor phase A-
4 B- Motor phase B-
1 DI1 I
2 DI2 I
3 DI3 I
Configurable Single-ended Digital
4 DI4 I Inputs DI1-DI7, 12V - 24V.
5 DI5 I DI1 is enabling signal default,
DI2-DI7 are GPIOs
6 DI6 I
CN4
7 DI7 I
8 COMI I
9 DO1 O
Configurable Single-ended Outputs
10 DO2 O
Signals DO1-DO3 (common-cathode
11 DO3 O or common-anode),
Note:
(1) DI1 is normally closed, default by Enable signal. It means the motor is locked shaft after the driver
powered on.
(2) When using Brake output signals, you need to connect a relay and a diode
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Others Reserved NC
1 RxD
2 GND
CN6
3 TxD
4 NC
The EM2RS series drives use an 8-bit DIP switched to set Salve ID (also called Site Alias), Baud Rate and
Terminal Resistance, they are shown as below:
1 (factory) off on on on on
2 on off on on on
3 off off on on on
4 on on off on on
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
5 off on off on on
6 on off off on on
8 on on on off on
9 off on on off on
10 on off on off on
12 on on off off on
16 on on on on off
17 off on on on off
18 on off on on off
20 on on off on off
24 on on on off off
Note:
(1) When the SW1-SW5 is default (all are on), the Slave ID can be configured by the PC software
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Note:
(1) When the SW6-SW7 is default (all are off), the Baud Rate can be configured by the PC software
(3) Terminal Resistance Selection: SW8
SW8=ON: terminal resistance is valid;
SW8=OFF:terminal resistance is invalid(Factory setting)
Note:
(1) The last slave in the network needs to connect a 120Ω terminal resistance, it means set the SW8 to on
Use PC software(from Leadshine or Controller or PLC vendor) to configure this output as a BRAKE
CONTROL output. In this case, this signal can be used for automatic brake control while system power
failure. It is recommended to connect a fly-wheel diode in parallel to a 24VDC relay and brake coil
connection. Refer to the following figure for brake connection.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
4 Modbus RTU
4.1 Communication Specifications
Synchronous
Start / Stop Synchronization -
Mode
Communication
Half-duplex, Master-slave Mode Slave/slave communication is prohibited
Mode
Starting bit:1bit
Character Data length:8bit
-
Composition Check bit:even/ odd/ no
Stop bit:0/1/2
Communicating
Modbus RTU ASCII is not supported
Protocol
0:broadcast
Slave ID -
1-31:valid sub-devices Numbers
Function code
Function
(FC)
Protocol
Read single or
0x03
- multiple data -
0x06 Write single data
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Receive message: 01 03 02 00 0A 38 43
Details as following:
Master->slave data:
Message: 01 03 01 91 00 01 D3 1B
Read Number of
Description: Address Function code Register address CRC check code
registers
Slave->master data:
Message: 01 03 02 00 0A 38 43
Number of bytes
Description: Address Function code Register value CRC check code
returned
Note: 0x0191-- output peak current, 000A(Hexadecimal)=10(decimal, unit: 0.1A), it means the current 1A.
Send message: 01 03 01 BC 00 06 05 D0
Receive message: 01 03 0C 00 00 00 02 00 00 00 01 00 00 00 04 B6 13
Details as following:
Master->slave data:
Message 01 03 01 BC 00 06 05 D0
Read Number of
Description Address Function code Register address CRC check code
registers
Slave>master data:
Message 01 03 0C 00 00 00 02 00 00 00 01 00 00 00 04 9D B3
CRC
Function Read Address Address Address Address Address Address
Description Address check
code register 0x01BC 0x01BD 0x01BE 0x01BF 0x01C0 0x01C1
code
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Note:
(1) The above example shows reading the value of Pr5.22, Pr5.23, Pr5.24, their corresponding address are
0x01BD, 0x01BF, 0x01C1.
(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 need to take the high 16 bits as beginning when we read/write multiple
parameters continuously.
Send message:01 06 01 91 00 20 DD 7B
Receive message:01 06 01 91 00 20 DD 7B
Details as following:
Master->slave data:
Message 01 06 01 91 00 20 DD 7B
Description Address Function code Register address Write data CRC check code
Slave>master data:
Message 01 06 01 91 00 20 DD 7B
Description Address Function code Register address Write data CRC check code
Note: 0x0191-- output peak current, write the data 0x0020=32(decimal, unit: 0.1A), it means the current
3.2A.
Send message: 01 06 18 01 22 11 06 06
Receive message:01 06 18 01 22 11 06 06
Details as following:
Master->slave data
Message: 01 06 18 01 22 11 06 06
Description Address Function code Register address Write data CRC check code
Slave>master data:
Message: 01 06 18 01 22 11 06 06
Description Address Function code Register address Write data CRC check code
Note: 0x1801-- Auxiliary control word, and 0x2211 is to save the value to EEPROM. This step is required
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
after the parameter has been modified, to prevent losing the written value after power-off.
Send message:01 10 01 46 00 04 08 00 00 00 28 00 00 00 29 1C 14
Receive message:01 10 01 46 00 04 21 E3
Details as following:
Master->slave data:
Slave>master data:
Message 01 10 01 46 00 04 21 E3
Description Address Function code Beginning address Number of CRC check code
0x0146 registers
Note:
(1) In above example, modify the function of DI2/DI3, and write the value as DI2=0x28 ( means path
address 0), DI2=0x29 (means path address 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 need to take the high 16 bits as beginning when we read/write multiple
parameters continuously.
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 Parameter Default
Definition Description Range unit
Address NO. value
Control mode
0x0005 Pr0.02 Invalid 0-10 1 --
source
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
1:CCW
Motor 0.001m
0x0009 Pr0.04 Invalid 0-10000 1499
inductance H
delay of brake
0x0167 Pr4.19 Keep default normally 0-1500 250 ms
released
delay of brake
0x0169 Pr4.20 Keep default normally 0-1500 250 ms
locked
Threshold value
0x016B Pr4.21 of brake locking Keep default normally 0-500 10 --
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
DIP switches
0x0187 Pr4.35 Invalid 0-65535 0 --
status
Percentage of
shaft locked
0x0197 Pr5.03 Keep default normally 0-100 100 --
current(power
on)
shaft locking
0x0199 Pr5.04 Keep default normally 0-1500 200 1ms
time
Rising time of
shaft locked
0x019F Pr5.07 Keep default normally 1-60 1 100ms
current (power
on)
RS485 control
0x01C3 Pr5.25 - 0-32767 0 --
word
Percentage of
0x01D3 Pr5.33 Idle current setting 0-100 50
holding current
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
0x01E5 Pr6.02 Running times For JOG triggered by IO, please use Pr8.40/8.41 0-30000 1 --
Back EMF
0x0235 Pr7.02 Invalid 0-32767 100 1ms
coefficient
0x0237 Pr7.03 Current loop Kp When auto-tuning is disabled, this can be 0-3000 1500 --
Adjustment
0x023B Pr7.05 Percentage of Invalid 0-1024 100 --
current loop
Over voltage
0x0243 Pr7.09 Invalid 0-1000 90 V
threshold
(2) The completion is judged by checking the status word. The status word is automatically returned to its
initial state after it is read.
Control word:
Register address definition operation unit description
0x1801 Control word W / Below table
Note:
(1) The continuous movement is triggered only when interval is less than 100ms, otherwise, it is only JOG
movement .
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Note:
(1) When the functionality of multiple input or output ports is repeatedly set up, you need to restart the
drive to detect errors
(2) After modifying and saving the input or output function configuration, it needs to restart power make
configuration valid.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
1 ID Slave ID 0-31
Low
4 CRC check code
High
Error code:
0x01 Wrong FC(This supports FC beside of 01h/ 03h/ 05h/ 08h/ 0Fh/ 10h )
0x02 Wrong access address
0x03 Wrong data, the data written over limit
Message 01 02 00 01 00 01 E8 0A
Error code Content RED LED flash times Sequence wave of RED LED
The green light is always on after the drive power on. When the error is occurred, the drive will stop
working and red light will be flashed indicates the current error code. Whatever error occurs, the user need
to power off the drive and restart it after removing the error.
The user can read the corresponding error code through the PC software. The latest errors will be saved to
EEPROM which supports 10 historical errors in the list.
he red LED is the error indicator, which flashes periodically for 5 seconds in the event of error occurred.
The flash frequency of red LED is 2Hz, that is 200ms on and 300ms off.
4.4.4 Troubleshooting
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Read error Read Historical error . Check the Historical happened error .
(1) It can clear over voltage error, but can not clear over
current error;
Clear current (2) There are two methods to clear the current alarm: one is
Current error
error via Leadshine ProTuner, and the second is via external I/O.
(3) If the current error cannot be cleared, please check the
drive
Clear history All history error records can be cleared by Leadshine
History error
error ProTuner
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
5 PR Functions
PR is uni-axial motion control function which is controlled by procedure software. Mainly uni-axial motion
instructions control to, save the motion control function of the controller.
PTP
Motion controller Stepper
/ PLC positioning Driver
Pulse+Direction
mode
Homing, JOG
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Features Description
The drive can detect homing signal by homing processing,and confirm the homing point of
mechanical coordinate system
Homing by detecting limit signal ,homing by detecting original signal,set homing point
by manual;
Homing direction can be set;
Homing
Homing offset can be set;
move to the Specified position after homing;
Acc/Dec of homing speed can be set;
Note: 1) Control instruction can not be sent to drive during homing
2) The above functions are valid at PR mode only
JOG can be realizes by IO or RS485,which can be used for debugging.
CW JOG;
CCW JOG;
JOG
JOG teaching function;
the speed and ACC of JOG can be set;
Note: JOG function triggered by input signal level
Protect the machine by limiting the working area range
Positive/negative hardware limit;
Software limit setting;
Limit
Acc/Dec limit can be set
Note: 1) software limit is valid after homing completed;
2) The above functions is valid at PR mode only
The movement stop immediately when the emergency stop input is on .it is valid at PR
Emergency stop
mode only
Select the positioning path number by positioning the address IO (ADD0-3), and then start
the positioning path movement by starting IO (CTRG) or RS485
Include positioning mode,speed mode,homing mode
Support IO rising edge trigger, double edge trigger,level trigger,RS485 trigger
Positioning Support continuously positioning
The max is 16 segments
Position,speed,ACC/DEC can be set
pause time or timing time can be set
support interrupt, re, jump and other functions
Note:
1) In PR control mode, the Pulse/revolution is 10000P/r and can not be modified 2) PR mode is valid when P0.01=0.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
5.2 Homing
Homing includes Homing by detecting limit signal , homing by detecting original signal, set homing point by manual, auto
homing after enabling drive.
5.2.1 Parameters
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Note:
(1) Pr8.40 (JOG Acceleration) and Pr8.41(JOG Deceleration) are available when triggered by I/O
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
5.3.1 JOG
JOG function
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
Fixed trigger mode is after configuring homing and path (less than 16-segment), then use Pr8.02( 0x6002) to start
the operation path which replace CTRG and HOME. This mode apply to fixed motion and simple operation
system.
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EM2RS Series RS485 Closed Loop Stepper Drive 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.
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.
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) Return command (Slave->Master)
1 ID Slave ID. 0-31 ID Sub-station No. 0-31
2 FC Function code 0x10 FC Function code 0x10
3 0x62 0x62
ADDR Address ADDR Address
4 0x00 0x00
5 0x00 Actually written0x00
NUM1 Number of Word NUM
6 0x08 Number of 0x08
Lo
7 NUM2 Number of Byte 0x10 CRC check code
Hi
8-9 Pr9.00 Mode XXXX
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
The positioning path can be run with single segment movement or continuous movement, which includes three
motion types: position positioning type, speed movement type, homing type ,There are 16 PR paths, and each
path sets the motion type, the position mode, the speed, the acceleration and deceleration and the pause time.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
The bit5 of Pr9.00 is 0 , which does not overlap the continuous path.
As shown in the figure below, set PR1 (PR path1) and PR2 (PR path2) to run continuously and PR1 jump. There
is no in-position signal in the intermediate delay from PR1 jump to PR2.
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
The interrupt function is the priority of a PR path. Interrupts a valid path means that interrupting and abandoning
the current path under trigger, and runs another path directly, which is similar as Interrupt priority of function.. As
below example, interrupt the PR1 (PR path1) to run PR2 (PR oath2)
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
As shown in the table below, “on” means signal input on , “off “ means signal input off
DI1 DI2 DI3 DI4 DI5
IO / PR path
(ADD0) (ADD1) (ADD2) (ADD3) (CTRG)
Path 0 off off off off on
Path 1 on off off off on
Path 2 off on off off on
Path 3 on on off off on
Path 4 off off on off on
Path 5 on off on off on
Path 6 off on on off on
Path 7 on on on off on
Path 8 off off off on on
Path 9 on off off on on
Path 10 off on off on on
Path 11 on on off on on
Path 12 off off on on on
Path 13 on off on on on
Path 14 off on on on on
Path 15 on on on on on
As shown in the table below, “on” means signal input on, “off” means signal input off
DI1 DI2 DI3 DI5
IO / PR path
(ADD0) (ADD1) (ADD2) (CTRG)
Path 0 off off off on
Path 1 on off off on
Path 2 off on off on
Path 3 on on off on
Path 4 off off on on
Path 5 on off on on
Path 6 off on on on
Path 7 on on on on
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EM2RS Series RS485 Closed Loop Stepper Drive User Manual
As shown in the table below, on means signal input on,off means signal input off
DI1 DI2 DI5
IO/running path
(ADD0) (ADD1) (CTRG)
Path 0 off off on
Path 1 on off on
Path 2 off on on
Path 3 on on on
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