Manual

Proportional Gain
Derivative Gain
Integral Gain
Refer to Pg 35
Refer to Pg 35
Reserved
Reserved
Alarm LED blink period according to
policy 11.2ms
Used to calibrate Newtral point(POS. : 512)
Absolute position = Calibrated position +
r(Calibration Difference)
r(Calibration Difference) = Absolute position -
Newtral point(512)
Torque enable states
0x40 : Break On, 0x60 : Torque On
0x00 : Torque Free
When Torque enabled, Mode depends on
r(Current Control Mode) before Torque On.
※ r(Current Control Mode) defaults to
Position Control(0) when servo powered on
※ Torque On : Operation possible state
※ Break On : Opeation command (I_JOG,
S_JOG) not possible
※ Torque Free : Similar to Break On, Joints
manually movable.
Temp/Voltage error check interval
1 = 11.2ms
Error activated if Temp/V error lasts longer
than the check interval
Incomplete packet error check interval
1 = 11.2ms
Incomplete packet is deleted if it reamains longer
than the error check interval
Time limit to determine if the servo has
stopped
1 = 11.2ms
Servo confirmed Stopped if stoppage lasts
past set time limit
Overload error check interval
When position change is less than r(Stop Threshold),
Servo seen as having stopped
Standard value to determine if goal position reached.
If deviation from goal position is less than
r(Inposition Margin) recognized as goal
position reached
Reserved
Reserved
Type NO Bytes EEP ADDR RAM ADDR Description
Reserved
Reserved
Shows 7 different status
Refer to Pg 39
Shows 7 different status
Refer to Pg 39
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
Position Kp
Position Kd
Position Ki
Position Feedforward 1st Gain
Position Feedforward 2nd Gain
Reserved
Reserved
LED Blink Period
ADC Fault Check Period
Packet Garbage
Check Period
Stop Detection
Period
Overload Detection Period
Stop Threshold
Inposition Margin
Reserved
Reserved
Calibration Difference
Status Error
Status Detail
Reserved
Reserved
Torque Control
2
2
2
2
2
2
2
1
1
1
1
1
1
1
1
2
1
1
1
1
1
1
30
32
34
36
38
40
42
44
45
46
47
48
49
50
51
52
53
-
-
-
-
-
24
26
28
30
32
34
36
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
RW
RW
RW
RW
RW
RW
-
-
RW
RW
RW
RW
RW
RW
RW
-
-
RW
RW
RW
-
-
RW
28