Manual

Overload Detection Period
Stop Threshold
Inposition Margin
Reserved
Reserved
Calibration Difference
48
49
50
51
52
53
1
1
1
1
1
1
0x96
0x03
0x03
-
-
0
0x00 ~ 0xFE
0x00 ~ 0xFE
0x00 ~ 0xFE
-
-
-128 ~ 127
Overload Check Interval
11.2ms/Tick, 0x96 : 1.68s
Stop Threshold
Offset Threshold
Reserved
Reserved
Servo Compensation
Type ADDRESS Bytes Default Valid Range Description
※ 2 Byte Variable Byte Order : (Little Endian ) Most significant byte is stored int the higher address.
[ Example ] : e(Position Kp) Address is 30~31. To store 0x1234(4460), store the least significant first
Address(30)= 0x34, and most significant digit last Address(31)=0x12
※ “What does operational flexibility” mean?
In the graph below, green line is the PWM level without the Max. PWM and Dead Zone set. The yellow line is
the PWM level with the Max.PWM and the Dead Zone set. The yellow line shows the PWM dropping to 0 within
the Dead Zone even though Goal Position has not been reached. Looking at the right side of the graph, even
though the green line is above (larger) than the Max.PWM, actual PWM value (yellow line) is within the Max.PWM.
※ Setting the Dead Zone too large will increase the discontinuous PWM section and lead to decreased
controllability. Recommended Dead Zone value is below 10.
Max. PWM, Dead Zone
PWM is the value representing engergy input to the Servo. When the energy is increased, servo
torque or speed increases.
Max. PWM : Limits maximum PWM, In other words, limits the maxi mum energy supplied to the Servo.
Energy use is optimized by limiting the maximum torque or speed of the servo.
Dead Zone : Servo moves to reach the exact Goal Position. When the difference (Error) between the
current position and the goal position becomes 0, the force drops to 0 and the servo stops.
Dead Zone provides flexibility to the servo operation by increasing the range where the force drops to 0.
If the difference (Error) is less than the Dead Zone, servo assumes it has reached the goal position and stops.
Max. PMW, Dead Zone
Max. PMM
+Position
Before Setting
After Setting
Goal Position
PWM
Dead Zone
Max. PWM
23
※ Intel & Alpha Processesors use Little Endian, whereas most of the RISC Processers & Mortorola Processors
use Big Endian.
RW
RW
RW
-
-
RW
RW