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9.2 Information Allocated to Virtual Memory
9.2.2 Common Parameter Area
9.2.2
Common Parameter Area
When accessing virtual memory using the MEM_RD or MEM_WR command, use virtual mem-
ory addresses. The address map is given below.
Data in this area can also be read using the SVPRM_RD or SVPRM_WR command.
For details, use the common parameter number from the following table and refer to the follow-
ing section.
8.2 List of Common Parameters on page 8-3
(h)
0001 0124
0001 0120
0001
011C
0001 0118
0001 0114
0001 0110
0001
010C
0001 0108
0001 0104
0001 0100
0001
00FC
0001
00A4
0001
00A0
0001
009C
0001 0098
0001 0094
0001 0090
0001
008C
0001 0088
0001 0084
0001 0080
0001 0034
0001 0030
0001
002C
0001 0028
0001 0024
0001 0020
0001
001C
0001 0018
0001 0014
0001 0010
0001
000C
0001 0008
0001 0004
0001 0000
9-4
Supported Unit
Torque Base Unit
Torque Unit
Acceleration Base Unit
Acceleration Unit
Position Base Unit
Position Unit
Speed Base Unit
Speed Unit
Reserved (00000000h)
Reserved (00000000h)
Reverse Software Limit
Reserved (00000000h)
Forward Software Limit
Limit Setting
Multiturn Limit
Absolute Encoder Origin Offset
Electronic Gear Ratio (Denominator)
Electronic Gear Ratio (Numerator)
Reserved (00000000h)
Pulses per Scale Pitch
Linear Scale Pitch
Resolution (Rotary)
Torque Multiplier
Maximum Output Torque
Rated Torque
Speed Multiplier
Maximum Output Speed
Rated Speed
Semi-Closed/Fully-Closed Type
Motor Type
Encoder Type
Reserved (00000000h)
Common
(h)
Parameter No.
0001 FFFF
49h
48h
47h
0001 0250
46h
0001 024C
45h
0001 0248
44h
0001 0244
43h
0001 0240
42h
0001 023C
41h
Speed Coincidence Signal Output Width
0001 0238
–
0001 0234
0001 0230
–
0001 022C
0001 0228
28h
–
0001 0224
0001 0220
26h
0001 021C
25h
0001 0218
24h
Final Travel Distance for Homing
23h
0001 0214
0001 0210
22h
0001 020C
21h
Final Travel Distance for External Positioning
0001 0208
–
0001 0204
Exponential Function Acceleration/Deceleration Time Constant
0001 0200
0001 01FC
0Ch
0Bh
0Ah
0001 01A0
09h
0001 019C
08h
0001 0198
07h
0001 0194
06h
Position Loop Integral Time Constant
0001 0190
05h
0001 018C
04h
0001 0188
03h
Speed Loop Integral Time Constant
0001 0184
02h
0001 0180
01h
0001 0128
–
Parameter No.
Reserved (00000000h)
I/O Bit Enabled/Disabled
I/O Bit Enabled/Disabled
SVCMD_STAT field
Enabled/Disabled
SVCMD_CTRL field
Enabled/Disabled
Zero Speed Detection Range
Reverse Torque Limit
Forward Torque Limit
Origin Detection Range
Monitor Select for SEL_MON2
Monitor Select for SEL_MON1
Monitor Selection 2
Monitor Selection 1
Homing Creep Speed
Homing Approach Speed
Movement Average Time
Reserved (00000000h)
Reserved (00000000h)
NEAR Signal Width
Positioning Completed Width
Feedforward Compensation
Position Loop Gain
Speed Loop Gain
Reserved (00000000h)
Common
–
93h
92h
91h
90h
8Fh
8Eh
8Dh
8Ch
8Bh
8Ah
89h
88h
87h
86h
85h
84h
83h
82h
81h
–
–
67h
66h
65h
64h
63h
62h
61h
–
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