3.1 Common Commands
3.1.10 Write Memory Command (MEM_WR: 1Eh)
3-22
Command Parameters
The details of MODE/DATA_TYPE are described below.
MODE = 1: Volatile memory, 2: Non-volatile memory (Non-volatile memory can be selected only
for common parameters)
DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported
SIZE:
Data size for writing (type specified by DATA_TYPE)
ADDRESS: Initial address for writing
DATA:
Data to be written
Executing the Adjustment Operation
The table below lists the adjustment operations that can be executed.
Details of Command for Adjustment
1.
Send the following data and set the request code of the adjustment to be executed.
Command = MEM_WR
ADDRESS = 80004000h
MODE/DATA_TYPE = 12h
SIZE = 0001h
DATA = Request code of the adjustment to be executed
To confirm the completion of the execution, check that CMDRDY = 1. If an error occurs, carry out the
operation in step 4 to abort execution.
2.
For adjustment that requires a preparation process in the table, send the following data.
Command = MEM_WR
ADDRESS = 80004002h
MODE/DATA_TYPE = 12h
SIZE = 0001h
DATA = 0002h
To confirm the completion of the execution, check that CMDRDY = 1. If an error occurs, carry out the
operation in step 4 to abort execution.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
MODE
DATA_TYPE
Adjustment
Request
Code
Preparation before
Execution
Processing
Time
Execution Conditions
Normal mode
0000h
None
200 ms
max.
–
Parameter ini-
tialization
1005h
None
20 s max.
Initialization impossible while the servo is
ON.
After initialization, the power supply must
be turned OFF and then ON again.
Absolute
encoder reset
1008h
Required
5 s max.
When using an incremental encoder,
impossible to reset the encoder while the
servo is ON.
After execution, the power supply must be
turned OFF and then ON again.
Automatic offset
adjustment of
motor current
detection sig-
nals
100Eh
None
5 s max.
Adjustment is disabled:
•
While the main circuit power supply is
OFF
•
While the servo is ON
•
While the servomotor is running
Multiturn limit
setting
1013h
Required
5 s max.
When using an incremental encoder, the
setting is disabled unless A.CC0 (Multiturn
Limit Disagreement) occurs.
After execution, the power supply must be
turned OFF and then ON again.