Leadshine Technology iEM-RS Series User manual

iEM-RS Series Modbus RS485
Integrated Stepper Motor
User Manual
©2022 Leadshine Technology Co., Ltd.
Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District,
Shenzhen, Guangdong, 518055, China
Tel: [phone] Fax: [phone]
Web: www.leadshine.com Sales: [e-mail]
Support: [e-mail]

iEM-RS Series Modbus RS485 Integrated Stepper Motor
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.
◆Thank you for purchasing Leadshine iEM-RS Series Products
◆Please read this manual carefully before operating
◆Please keep this manual appropriately
Record of Revisions
Manual
Reversion
Data
Description of Release
V1.0
02/25/2022
Initial Release

iEM-RS Series Modbus RS485 Integrated Stepper Motor
Safety Precautions
Overall Notes
Precautions for Storage and Transportation
Do not remove the housing with the drive powered on. Cables. Connectors and
optional equipment.
Please disconnect the power supply for at least 2 minutes and make sure the
power indicator is off before wiring and checking. Even if the power is
disconnected, voltage may remain inside the drive. Therefore, do not touch the
power terminals while the power indicator is on.
Please use the power supply specifications (number of phases.) that match the
product. Voltage. Frequency. AC/DC).
Be sure to connect the ground terminal of the driver (mounting surface) and
motor to the ground pole.
Do not damage or drag the cable, do not overstress the cable, do not hang
heavy objects on the cable, or get caught in the cabinet door.
Please do not disassemble the product yourself. Repair or modification.
When the machine is connected to the machine and starts to operate, make sure
that the machine is ready for emergency stop.
Do not touch the inside of the drive.
The heat sink of the driver may be hot when the power is on or when the power
is just cut off. The motor, etc. may be in a high temperature. Take safety
measures such as installing a cover to prevent accidental touching by hands and
parts (cables, etc.).
Use double-insulated or reinforced insulation for control power.
Do not use in places where water can be splashed. Corrosive environments. Do
not use the product in the vicinity of flammable gases and combustible
materials.
Do not use damaged. Drivers and motors with missing parts.
Please set up an emergency stop circuit externally to ensure that the power
can be cut off and the operation can be stopped immediately in case of an
abnormality.
If the product is used under poor power conditions, install protection
equipment (AC reactor, etc.) to ensure that the input power is supplied within
the specified voltage variation range.
Please use a noise filter to reduce the influence of electromagnetic interference.
The driver and motor should be used in the specified combination.
Please follow the Commands on the packaging for storage and do not overload
the product.
Please place this product in the following environment:
→No direct sunlight in the place.
→Ambient temperature does not exceed the product specification.
→Humidity does not exceed product specifications. Without condensation.
→No corrosive gases. Place of flammable gas.
→Dust. Dust. The place where there is less salt and metal powder.
→No water. Oil. The place where the splash of medicine, etc. occurs.
→Vibration or shock does not exceed product specifications.
→No equipment generating strong magnetic fields in the vicinity.

iEM-RS Series Modbus RS485 Integrated Stepper Motor
Precautions for Installation
Precautions for Wiring
Precautions during operation
Please install the drive in a cabinet that provides fire protection. Electrical
protection in the control cabinet.
Please install the driver and motor in a position with sufficient weight
resistance.
Please install this product in the following environment:
→No direct sunlight in the place.
→Ambient temperature does not exceed the product specification.
→Humidity does not exceed product specifications. Without condensation.
→No corrosive gases. Place of flammable gas.
→Dust. Dust. The place where there is less salt and metal powder.
→No water. Oil. The place where the splash of medicine, etc. occurs.
→Vibration or shock does not exceed product specifications.
→No equipment generating strong magnetic fields in the vicinity.
Do not block the air inlet and exhaust ports, and do not allow foreign objects to
enter the drive and motor.
Do not step on the product or place heavy objects on the drive.
Please install the driver in the specified direction.
Make sure to keep the specified intervals between the inner surfaces of the
drive control cabinet and other machines.
Do not pass the solenoid contactor in the wiring between the driver and the
motor.
Please connect the power terminal and motor terminal firmly.
Keep a minimum distance of 10mm between the drive and the control cabinet
or other equipment.
Allow at least 30mm of wiring space above and below the driver.
Signal cable. The encoder cable should be a twisted shielded cable with the
shield grounded at both ends.
The wiring length of the encoder is up to 20m.
Reduce the frequency of power on/off as much as possible.
To prevent accidents, perform a test run of the servo motor at no load (without
the driver connected).
When you install the machine and start operation, please set the user
parameters in advance to match the machine.
Positive limit (POT) during JOG operation and zero return operation. The
signal of negative limit (NOT) is not valid.
When using the motor on a vertical axis, please provide a safety device to
avoid dropping the workpiece in case of alarm or over travel.
When an alarm occurs, please reset it after investigating the cause and making
sure it is safe.
Do not use the brake of the holding motor for normal braking.

Table of Content
1 Introduction..............................................................................................................................................................1
1.1 Product Introduction....................................................................................................................................... 1
1.2 Features...........................................................................................................................................................1
1.3 Application Scenarios..................................................................................................................................... 1
1.3.1 Hands-on Tuning................................................................................................................................. 1
1.3.2 Practical Application Scenarios...........................................................................................................1
2 Specifications............................................................................................................................................................3
2.1 Electrical and Operating Specifications......................................................................................................... 3
2.2 Storage and Installation Conditions................................................................................................................3
2.2.1 Storage condition.................................................................................................................................3
2.2.2 Operating ambience conditions........................................................................................................... 3
2.3 Dimensions..................................................................................................................................................... 3
3 Interface and Connection........................................................................................................................................4
3.1 Interface.......................................................................................................................................................... 4
3.1.1 Connectors Definition......................................................................................................................... 4
3.1.2 CN1 &CN2 Input Power Connector................................................................................................... 5
3.1.2 CN3-RS485 Communication Connector.............................................................................................5
3.1.3 CN4-RS232 Tuning Port..................................................................................................................... 6
3.1.4 DIP Switches........................................................................................................................................6
3.2 Wiring Instructions......................................................................................................................................... 7
3.2.1 Power Supply Cable............................................................................................................................ 8
3.2.2 I/O Signal Cable.................................................................................................................................. 8
3.2.3 RS485 Communication Cable............................................................................................................. 9
3.3 I/O Connection................................................................................................................................................9
3.3.1 Digital Inputs....................................................................................................................................... 9
3.3.2 Digital Output...................................................................................................................................... 9
4 Modbus RTU.......................................................................................................................................................... 10
4.1 Communication Specifications.....................................................................................................................10
4.2 Modbus Function Codes (FC)...................................................................................................................... 10
4.2.1 Read Holding Registers FC= 03........................................................................................................11
4.2.2 Preset Single Register FC= 06...........................................................................................................12
4.2.3 Preset Multiple Registers FC= 10..................................................................................................... 13
4.3 Modbus & PR Parameters............................................................................................................................ 14
4.3.1 Basic Parameters................................................................................................................................14
4.3.2 Input and Output Parameters.............................................................................................................16
4.3.3 Smooth Filter Time Setting for Digital Inputs.................................................................................. 17
4.3.4 Status Monitoring Parameters........................................................................................................... 18
4.3.5 Control Word and Status Word..........................................................................................................19
4.4 Error Codes and Troubleshooting.................................................................................................................19
4.4.1 Communication Error Codes.............................................................................................................19

4.4.2 Drive Alarm Codes and Troubleshooting..........................................................................................20
4.4.3 Error Clear......................................................................................................................................... 21
4.5 Register Mapping Continuous Read/Write Function................................................................................... 21
4.6 S-code Application........................................................................................................................................22
4.7 Enable Drive................................................................................................................................................. 23
5 PR Mode (Indexer Table)......................................................................................................................................24
5.1 PR Main Features......................................................................................................................................... 24
5.2 Homing / Return to Zero Position................................................................................................................ 24
5.2.1 Homing Parameters........................................................................................................................... 26
5.2.2. Homing by Home Switch................................................................................................................. 26
5.2.3. Homing by Limit Switch..................................................................................................................28
5.3 Soft Limit & JOG & Quick Stop..................................................................................................................29
5.3.1 Soft Limit...........................................................................................................................................29
5.3.2 JOG.................................................................................................................................................... 29
5.3.3 Quick Stop......................................................................................................................................... 30
5.4 PR Path......................................................................................................................................................... 31
5.4.1 PR Parameters....................................................................................................................................31
5.4.2 PR Path Configuration.......................................................................................................................32
5.4.3 Other functions of PR........................................................................................................................32
5.5 Trigger Methods............................................................................................................................................34
5.5.1 CTRG Trigger....................................................................................................................................34
5.5.2 IO Combination Trigger.................................................................................................................... 35
5.5.3 Fixed Trigger..................................................................................................................................... 36
5.5.4 Immediate Trigger............................................................................................................................. 36
6 Tuning Operations................................................................................................................................................. 38
6.1 Basic operation of Leadshine MotionStudio................................................................................................38
6.1.1 Preparation and Steps........................................................................................................................ 38
6.1.2 Operation of Trial Run.......................................................................................................................40
6.1.3 Operation of PR Function..................................................................................................................41
6.2 Basic Operation of Serial Port Tools Software............................................................................................ 43
6.2.1 Preparation and Steps........................................................................................................................ 43
6.2.2 Operation Instruction Format............................................................................................................ 44
6.2.3 Command Cases of Modbus RTU.....................................................................................................44
Appendix A Parameters List....................................................................................................................................45

iEM-RS Series Modbus RS485 Integrated Stepper Motor
1
1 Introduction
1.1 Product Introduction
iEM-RS Series is an integrated stepper motor integrated drive, and based on standard Modbus RTU protocol, using RS485
communication can network up to 31 axes. Its 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.
The iEM-RS series motors are 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
Low noise and vibration, smooth motion
Support Modbus RTU protocol, Internal 16-segment position Commands
Motion can be started by External IO or RS485 or HMI
Support operation modes: Profile Position, Profile Velocity, Homing
7 configurable digital inputs, 3 optically isolated digital outputs
iEM-RS17xx: 20-36VDC supply voltage, max output current 3.0A peak
iEM-RS23xx: 20-50VDC supply voltage, max output current 7.0A peak
RS232 port for tuning software connection, RS485 port for motion control
Protections for over voltage, over current, etc.
Compare with Step/Direction
Built-in single-axis control can save the PLC in most of point-to-point applications to reduce cost;
Built-in rich diagnostic functions and input and output signals to setup easily;
Modbus brings more expansion possibility to add value;
1.3 Application Scenarios
Divided into simple hands-on tuning and practical application scenarios
1.3.1 Hands-on Tuning
(1) The trial run can be performed with Leadshine's MS tuning software, which requires Leadshine’s tuning software, RS232
tuning cable (provided by Leadshine), RS232toUSB converter, drive and motor, as described in section 6.1
(2) Simple motion can also be performed with serial port tools, which requires General serial port tools software, RS485 tuning
cable (User-provided), RS485toUSB converter, drive and motor, as described in section 6.2.
1.3.2 Practical Application Scenarios
(1) Controlled by Modbus RS485 (PLC or HMI)
The RS485 (Modbus-RTU protocol) communication triggers the drive's PR motion register, which can realize the drive's path
motion. Both PLC and HMI have RS485 communication, so user can choose one or both. Using PLC can write more complex
programs to let motion more intelligent, and the HMI can monitor and modify the drive parameters in real time.

iEM-RS Series Modbus RS485 Integrated Stepper Motor
2
(2) Controlled by I/O (switch signal or PLC)
The user only needs to turn off the switch signal to realize the PR motion, which is simple to control and low-cost design.
Users can also use PLC I/O module to realize PR motion, which is more intelligent than switch signal control.
Note: The above drive pictures are for reference only, it is actually an integrated stepper motor with drive.

iEM-RS Series Modbus RS485 Integrated Stepper Motor
3
2 Specifications
2.1 Electrical and Operating Specifications
Model
Frame
Size
Length
(mm)
Holding
Torque
(N.m)
Weight
(Kg)
Command
Source
Power
Voltage
(VDC)
Peak
Current
(A)
Input
Logical
Voltage
Output
Capability
Max Baud
Rate
Digital
Input
Digital
Output
iEM-RS1706
NEMA
17
73
0.6
1.0
Modbus-RTU
20-36
0.3 - 3.0
12-24V
24V@
100mA
115200
3
1
iEM-RS1708
86
0.8
1.1
20-36
0.3 - 3.0
iEM-RS2313
NEMA
23
78
1.3
1.1
20-50
0.5 - 4.5
iEM-RS2323
99
2.3
1.4
20-50
0.5 - 7.0
2.2 Storage and Installation Conditions
2.2.1 Storage condition
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℃(-4 F – 149 F).
Store within a relative humidity ranging from 40% to 90% and non-condensed.
Avoid any type of exposure to corrosive gases.
2.2.2 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.
CAUTION
2.3 Dimensions
(unit: mm [1inch=25.4mm])
DO NOT mount the drive and motor in a location subjected to
corrosive or flammable gases, and combustibles.
Please mount the drive and motor in an indoor electric control
cabinet without liquid where direct sunlight is avoided.
DO NOT mount the drive and motor in a location subjected to
airborne dust.
Please ensure grounding wires are securely connected

iEM-RS Series Modbus RS485 Integrated Stepper Motor
4
Figure 1: Mechanical specifications
3 Interface and Connection
3.1 Interface
3.1.1 Connectors Definition
Name
Description
CN1
Input power connector
CN2
Digital inputs and outputs connector
CN3
RS485 communication connector
CN4
RS232 tuning connector

iEM-RS Series Modbus RS485 Integrated Stepper Motor
5
DIP Switch
Salve ID: SW1-SW5
Baud Rate: SW6-SW7
Terminal Resistance: SW8
3.1.2 CN1 &CN2 Input Power Connector
Name
Pic
PIN
Signal
Description
CN1
1
VDC
20V- 36V
2
GND
GND
Name
Pic
PIN
Signal
I/O
Description
CN2
1
DI1
I
Configurable Single-ended Digital
Inputs DI1-DI7, 12V - 24V.
DI1 is enabling signal default,
DI2-DI7 are GPIOs
2
DI2
I
3
DI3
I
4
DI4
I
5
DI5
I
6
DI6
I
7
DI7
I
8
COMI
I
9
DO1
O
Configurable Single-ended Outputs
Signals DO1-DO3 (common-cathode
or common-anode),
Max. 24V/100mA, GPIOs.
10
DO2
O
11
DO3
O
12
COMO
O
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
3.1.2 CN3-RS485 Communication Connector
Name
Pic
PIN
Description
CN3
1
RS485 +
2
RS485 -
3,4
GND

iEM-RS Series Modbus RS485 Integrated Stepper Motor
6
3.1.3 CN4-RS232 Tuning Port
Name
Pic
PIN
Signal
CN4
1
NC
2
TxD
3
GND
4
RxD
3.1.4 DIP Switches
The iEM-RS series 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) Slave ID: SW1-SW5 (off=1, on=0)
Slave ID
SW1
SW2
SW3
SW4
SW5
default
on
on
on
on
on
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
5
off
on
off
on
on
6
on
off
off
on
on
7
off
off
off
on
on
8
on
on
on
off
on
9
off
on
on
off
on
10
on
off
on
off
on
11
off
off
on
off
on
12
on
on
off
off
on
13
off
on
off
off
on
14
on
off
off
off
on
15
off
off
off
off
on
16
on
on
on
on
off
17
off
on
on
on
off
18
on
off
on
on
off
19
off
off
on
on
off

iEM-RS Series Modbus RS485 Integrated Stepper Motor
7
20
on
on
off
on
off
21
off
on
off
on
off
22
on
off
off
on
off
23
off
off
off
on
off
24
on
on
on
off
off
25
off
on
on
off
off
26
on
off
on
off
off
27
off
off
on
off
off
28
on
on
off
off
off
29
off
on
off
off
off
30
on
off
off
off
off
31
off
off
off
off
off
Note:
(1) When the SW1-SW5 is default (all are on), the Slave ID can be configured by the PC software
(2) Baud Rate: SW6 - SW7
Baud Rate
SW6
SW7
115200 (Default)
on
on
38400 (Factory)
off
on
19200
on
off
9600
off
off
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
3.2 Wiring Instructions

iEM-RS Series Modbus RS485 Integrated Stepper Motor
8
Figure 3.1 Wiring Instructions
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
CAUTION
3.2.1 Power Supply Cable
Wire diameter: +VDC, GND terminal wire diameter≥0.3mm2(AWG15-22)
A noise filter which can improve anti-interference performance is recommended to be connected between power supply and
drive.
3.2.2 I/O Signal Cable
Wire diameter: I1 - I7, O1 - O3, COM wires diameter≥0.12mm2(AWG24-26)
Recommend to adopt shielded twisted pair cable with a length of less than 3 meters (the shorter the better).
Wiring: As far as possible away from the power line wiring, in order to prevent interference
Please connect surge absorber to inductive device, such as anti-parallel diode for DC coil, parallel RC-snubbers circuit for AC
coil.
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

iEM-RS Series Modbus RS485 Integrated Stepper Motor
9
3.2.3 RS485 Communication Cable
Leadshine can provide specific network cable CABLE-TX*M*-ISV2, the maximum length is 20meter, user can also made by
yourself, please contact Leadshine for the part number of connector.
3.3 I/O Connection
3.3.1 Digital Inputs
The connections of input signals are as below:
Figure 3.3: Input Interface Connection
3.3.2 Digital Output
Figure 3.4: Output Interface Wiring
Note:
(1) The power supply (12-24VDC) above is provided by user, and if the polarity of power supply is reversed, it will damage the
drive.
(2) Digital output is OC output with the maximum capacity of 100mA/24V (recommended 50mA/24V), the provided power
supply should be under 30V (recommended 24V), otherwise it will cause damage to the drive.

iEM-RS Series Modbus RS485 Integrated Stepper Motor
10
4 Modbus RTU
4.1 Communication Specifications
Items
Specifications
Remarks
Communication
Communication
Port
RS485 and RS232
RS232 only for fine tuning
RS485 for motion control
Baud Rate
9600/19200/38400/115200[bps]
Parameter setting
Synchronous
Mode
Start / Stop Synchronization
-
Communication
Mode
Half-duplex, Master-slave Mode
Slave/slave communication is prohibited
Character
Composition
Starting bit:1bit
Data length:8bit
Check bit: even/ odd/ no
Stop bit:0/1/2
Parameter setting
Protocol
Communicating
Protocol
Modbus RTU
ASCII is not supported
Slave ID
0: broadcast
1-31: valid sub-devices Numbers
Parameter setting
Function code
(FC)
Function code
(FC)
Function
-
0x03
Read single or
multiple data
0x06
Write value to
single data
0x10
Write value to
multiple data
Check Mode
CRC-16
Left is Low-bit, Right is high-bit
Message Length
Variable, the max length is 200byte
-
Single message communication rate of RS485：(Unit: ms)
Baud rate
Start receiving to send
completion time
Receive wait
time
Time from transmission
completion to recovery of
receiving state
Total
115200
2.44
0.64
0.6
3.08
38400
5.5
1.16
0.46
7.12
19200
10.76
2.2
0.38
13.34
9600
20.5
3.8
0.6
24.9
4.2 Modbus Function Codes (FC)
The current supported function codes as below:
Function
Code (FC)
Type
Description

iEM-RS Series Modbus RS485 Integrated Stepper Motor
11
03
Read Holding Registers
Requests content of holding registers
06
Preset Single Register
Writes to single holding register
10
Preset Multiple Registers
Writes to multiple holding register
4.2.1 Read Holding Registers FC= 03
Read Holding Registers Query (Master to Slave)
Read Holding Registers Response (Slave to Master)
Slave ID
00 - 1F
Slaver ID
00 - 1F
FC
03
FC
03
Address of beginning
register to be read
High
Number of data bytes in
message
High
Low
Low
Total number of registers
to be read
High
Data from registers (2 bytes
per register)
High
Low
Low
CRC
Low
CRC
Low
High
High
Example A: Read the value of a single register--peak current
Send message: 01 03 01 91 00 01 D3 1B
Receive message: 01 03 02 00 0A 38 43
Details as following:
Master->slave data:
Message:
01
03
01 91
00 01
D3 1B
Description:
Slave ID
FC
Register address
Number of
registers read
CRC
Slave->master data:
Message:
01
03
02
00 0A
38 43
Description:
Slave ID
FC
Number of bytes
returned
Value of 0x01 91
CRC
Note: 0x0191-- output peak current, 000A(Hexadecimal)=10(decimal, unit: 0.1A), it means the current 1A.
Example B: Read multiple register values
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
Description
Slave ID
FC
Register address
Number of
registers read
CRC
Slave>master data:

iEM-RS Series Modbus RS485 Integrated Stepper Motor
12
Message
01
03
0C
00 00
00 02
00 00
00 01
00 00
00 04
9D
B3
Description
Slave
ID
FC
Number of
bytes returned
Value of
0x01BC
Address
0x01BD
Value of
0x01BE
Value of
0x01BF
Value of
0x01C0
Value of
0x01C1
CRC
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 needs to take the high 16 bits as beginning when we read/write multiple parameters continuously.
4.2.2 Preset Single Register FC= 06
Preset Single Register Query (Master to Slave)
Preset Single Register Response (Slave to
Master)
Slave ID
00 -- 1F
Slaver ID
00 -- 1F
FC
06
FC
06
Address of register to
write to
High
Address of register
written to
High
Low
Low
Value to write
High
Value written to
register
High
Low
Low
CRC
Low
CRC
Low
High
High
Example C: Write the value of a single register--peak current
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
Slave ID
FC
Register address
Write data
CRC
Slave>master data:
Message
01
06
01 91
00 20
DD 7B
Description
Slave ID
FC
Register address
Write data
CRC
Note: 0x0191-- output peak current, write data 0x0020=32(decimal, unit: 0.1A), it means the current 3.2A.
Example D: Save the written value to EEPROM
Send message: 01 06 18 01 22 11 06 06
Receive message:01 06 18 01 22 11 06 06

iEM-RS Series Modbus RS485 Integrated Stepper Motor
13
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 after the parameter
has been modified, to prevent losing the written value after power-off.
4.2.3 Preset Multiple Registers FC= 10
Preset Multiple Registers Query (Master to Slave)
Preset Multiple Registers Response (Slave to
Master)
Slave ID
00 - 1F
Slaver ID
00 - 1F
FC
10
FC
10
Address of first register to
write to
High
Address of first register
written to
High
Low
Low
Total number of registers to
write to
High
Total number of registers
written to
High
Low
Low
Number of data bytes in
message
2 bytes per register
CRC
Low
Value1 to write
High
High
Low
-
Value2 to write
High
Low
CRC
Low
High
Example E: Write multiple registers-- configure input port functions
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:
Message
01
10
01 46
00 04
08
00 00, 00 28, 00 00, 00 29
1C 14
Description
Slave
ID
FC
First address
writes
Number of
address write
Number
of bytes
Value to write
CRC
Slave>master data:
Message
01
10
01 46
00 04
21 E3
Description
Slave ID
FC
First address write
Number of address write
CRC

iEM-RS Series Modbus RS485 Integrated Stepper Motor
14
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
Leadshine 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
Software
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
0.00
1mH
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
0.1m
s
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
Keep default normally
0-500
10
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