Data Sheet

3. EEPROM & RAM Parameters
The system parameters saved in EEOROM and RAM are shown in Table 10.
There are 54 bytes parameter data in EEPROM and 80 bytes parameter data in RAM,
in which the first 48 bytes of RAM data are same as the data in RAM from address of
6 to 54. The EEPROM data can be read and written to; some of the RAM data are
read only.
Table 10: EEPROM & RAM Parameters
EEPROM
Addr.
RAM
Addr.
Parameter Bytes R/W
/RO
Default
Value
0 Model_No 1 RO 0x01
1 Year 1 RO 0x0F
2 Version/Month 1 RO 0x3A
3 Day 1 RO 0x01
4 Reserved 1 RO 0x01
5 Baud_Rate 1 R/W 0x0C
6 0 sID 1 R/W 0x01
7 1 ACK_Policy 1 R/W 0x02
8 2 Alarm_LED_Policy 1 R/W 0x00
9 3 Torque_Policy 1 R/W 0x01
10 4 SPDctrl_Policy 1 R/W 0x01
11 5 Max_Temperature 1 R/W 0x4B
12 6 Min_Voltage 1 R/W 0x77
13 7 Max_Voltage 1 R/W 0xE8
14 8 Acceleration_Ratio 1 R/W 0x00
15 9 Reserved 1 R/W 0xFF
16 10 Reserved 1 R/W 0x00
17 11 Reserved 1 R/W 0x00
18 12 Max_Wheel_Ref_Position 2 R/W 0x042E
20 14 Reserved 1 R/W 0x00
21 15 Reserved 1 R/W 0x00
22 16 Max_PWM 2 R/W 0x03FF
24 18 Overload_Threshold 2 R/W 0x00CC
26 20 Min_Position 2 R/W 0x00
28 22 Max_Position 2 R/W 0x03FF
30 24 Position_Kp 2 R/W 0x0F00
32 26 Position_Kd 2 R/W 0x0800