StepperOnline iDM-RS Series User manual

iDM-RS Series Modbus RS485
Integrated Stepper Motor
User Manual
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Tel: [phone]
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iDM-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 STEPPERONLINE 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 STEPPERONLINE. While
every precaution has been taken in the preparation of the book, STEPPERONLINE 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 STEPPERONLINE 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 STEPPERONLINE. 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 STEPPERONLINE iDM-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
V1.1 10/20/2022 Modify the torque of some models

iDM-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.

iDM-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....................................................................................................................... 5
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 ..............................................................................................................8
3.3 I/O Connection ............................................................................................................................................... 8
3.3.1 Digital Inputs ....................................................................................................................................... 8
3.3.2 Digital Output ......................................................................................................................................9
4 Modbus RTU ..................................................................................................................................................... 9
4.1 Communication Specifications .......................................................................................................................9
4.2 Modbus Function Codes (FC) .......................................................................................................................10
4.2.1 Read Holding Registers FC= 03 ..........................................................................................................10
4.2.2 Preset Single Register FC= 06............................................................................................................11
4.2.3 Preset Multiple Registers FC= 10 ...................................................................................................... 12
4.3 Modbus & PR Parameters ............................................................................................................................ 13
4.3.1 Basic Parameters...............................................................................................................................13
4.3.2 Input and Output Parameters...........................................................................................................16
4.3.3 Smooth Filter Time Setting for Digital Inputs ................................................................................... 16
4.3.4 Status Monitoring Parameters ..........................................................................................................18
4.3.5 Control Word and Status Word .........................................................................................................18
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 ......................................................................................................................................... 20
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) .................................................................................................................................23
5.1 PR Main Features......................................................................................................................................... 23
5.2 Homing / Return to Zero Position ................................................................................................................ 24
5.2.1 Homing Parameters ...........................................................................................................................25
5.2.2. Homing by Home Switch..................................................................................................................25
5.2.3. Homing by Limit Switch ....................................................................................................................27
5.3 Soft Limit & JOG & Quick Stop ..................................................................................................................... 28
5.3.1 Soft Limit ........................................................................................................................................... 28
5.3.2 JOG.................................................................................................................................................... 28
5.3.3 Quick Stop......................................................................................................................................... 30
5.4 PR Path......................................................................................................................................................... 30
5.4.1 PR Parameters...................................................................................................................................30
5.4.2 PR Path Configuration ....................................................................................................................... 31
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 .......................................................................................................................................... 37
6.1 Basic operation of STEPPERONLINE MotionStudio ..................................................................................... 37
6.1.1 Preparation and Steps .......................................................................................................................37
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

iDM-RS Series Modbus RS485 Integrated Stepper Motor
1
1 Introduction
1.1 Product Introduction
iDM-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 iDM-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
iDM42-RSxx: 20-36VDC supply voltage, max output current 3.0A peak
iDM57-RSxx: 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 STEPPERONLINE's MS tuning software, which requires STEPPERONLINE’s tuning
software, RS232 tuning cable (provided by STEPPERONLINE), 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.

iDM-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.

iDM-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
iDM42-RS06 NEMA
17
73 0.4 1.0
Modbus-RTU
20-36 0.3 - 3.0
12-24V 24V@
100mA 115200 3 1
iDM42-RS08 86 0.8 1.1 20-36 0.3 - 3.0
iDM57-RS13 NEMA
23
78 1.3 1.1 20-50 0.5 - 4.5
iDM57-RS23 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])
Models Length
iDM42-RS06 73mm
iDM42-RS08 86mm
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

iDM-RS Series Modbus RS485 Integrated Stepper Motor
4
Figure 1: Mechanical specifications
3 Interface and Connection
3.1 Interface
CN4: Tuning Port
DIP
Switches
CN1: Power Input
CN3:RS485 Communication Port
CN2: I/O Port
LED Indicator
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
DIP Switch
Salve ID: SW1-SW5
Baud Rate: SW6-SW7
Terminal Resistance: SW8
Models Length
iDM57-RS13 78mm
iDM57-RS23 99mm
Models Length
iEM-RS2313
iEM-RS2323
78 mm
99 mm
21±0.5
15
φ8
L±1
22±0.5
5
1.6
P-P
2:1
0-
0.012
47.14
57.2 MAX 4-φ5

iDM-RS Series Modbus RS485 Integrated Stepper Motor
5
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
1DI1 I
Configurable Single-ended Digital
Inputs DI1-DI7, 12V - 24V.
DI1 is enabling signal default, DI2-DI7
are GPIOs
2DI2 I
3DI3 I
4DI4 I
5DI5 I
6DI6 I
7DI7 I
8COMI I
9DO1 OConfigurable 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
1RS485 +
2RS485 -
3,4 GND
3.1.3 CN4-RS232 Tuning Port
Name Pic PIN Signal
CN4
1 NC
2 TxD
3 GND
4 RxD

iDM-RS Series Modbus RS485 Integrated Stepper Motor
6
3.1.4 DIP Switches
The iDM-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
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

iDM-RS Series Modbus RS485 Integrated Stepper Motor
7
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
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

iDM-RS Series Modbus RS485 Integrated Stepper Motor
8
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.
3.2.3 RS485 Communication Cable
STEPPERONLINE can provide specific network cable CABLE-TX*M*-ISV2, the maximum length is 20meter, user can also made
by yourself, please contact STEPPERONLINE 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
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

iDM-RS Series Modbus RS485 Integrated Stepper Motor
9
3.3.2 Digital Output
Drive Side
12-24VDC
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.
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 -

iDM-RS Series Modbus RS485 Integrated Stepper Motor
10
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
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

iDM-RS Series Modbus RS485 Integrated Stepper Motor
11
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:
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:

iDM-RS Series Modbus RS485 Integrated Stepper Motor
12
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
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:

iDM-RS Series Modbus RS485 Integrated Stepper Motor
13
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
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
STEPPERONLINE 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 0.001
mH
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 0.1ms
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 --

iDM-RS Series Modbus RS485 Integrated Stepper Motor
14
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 locking velocity Keep default normally 0-500 10 --
0x016D Pr4.22 Alarm detection
selection
Bit setting:
=1: Yes; =0: No
bit0: over-current ( Cannot be changed)
bit1: over-voltage
bit3: ADC sampling failure
bit4: Locked shaft alarm
bit5: EEPROM alarm
bit6: Auto-tuning alarm
0-65535 0 --
0x0177
Pr4.27
Bus
voltage
0-65535
0
0.1V
0x0179 Pr4.28 Digital input statue Bit0-Bit6: DI1-DI7 0-65535 0 --
0x017B Pr4.29 Digital output statue Bit0-Bit2: DO1-DO3 0-65535 0 --
0x0187
Pr4.35
DIP
switches
statue
0-65535
0
--
0x0191 Pr5.00 Peak current Approximately equal to motor phase current value
multiplied by 1.4
0-30 22 for
iDM42-RSxx
0.1A
0-70
45 for
iDM57-RS13
60 for
iDM57-RS23
0x0197 Pr5.03
Percentage of shaft
locked current (power
on)
Keep default normally 0-100 100 --
0x0199 Pr5.04 Shaft locked duration Keep default normally 0-1500 200 1ms
0x019F Pr5.07
Rising time of shaft
locked current (power
on)
Keep default normally 1-60 1 100m
s
0x01A5 Pr5.10 The max stop time Keep default normally 100-1000 1000 ms
0x01AB Pr5.13 Auto-tuning at power
on
0: disable, 1: enable 0-1 1 --
0x01BD Pr5.22 RS485 baud rate
0: 2400 1: 4800 2: 9600 (default)
3: 19200 4: 38400(factory) 5: 57600
6: 115200
When SW6 and SW7 are all OFF, it can be set by PC
software.
0-6 4 --
0x01BF Pr5.23 RS485 ID When SW1 - SW5 are all ON, it can be set by PC
software 0-127 1 --
0x01C1 Pr5.24 RS485 data type
selection
0: 8-bit data, even check, 2 stop bits;
1: 8-bit data, odd check, 2 stop bits
2: 8-bit data, even check, 1 stop bit;
3: 8-bit data, odd check, 1 stop bit:
4: 8-bit data, no check,1 stop bit:
5: 8-bit data, no check,2 stop bits;
0-11 4 --
0x01C3 Pr5.25 RS485 control word 0-32767 0 --
0x01C4 Pr5.26 Communication bit
delay 0-100 35 bit