YASKAWA S-7 Series Command Manual page 88

3.1 Common Commands
3.1.10 Write Memory Command (MEM_WR: 1Eh)
Command Parameters
The details of MODE/DATA_TYPE are described below.
bit7
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:
ADDRESS: Initial address for writing
DATA:
 Executing the Adjustment Operation
The table below lists the adjustment operations that can be executed.
Adjustment
Normal mode
Parameter ini-
tialization
Absolute
encoder reset
Automatic offset
adjustment of
motor current
detection sig-
nals
Multiturn limit
setting
 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.
3-22
bit6 bit5
MODE
Data size for writing (type specified by DATA_TYPE)
Data to be written
Request Preparation before
Code Execution
0000h None
1005h None
1008h Required
100Eh None
1013h Required
bit4 bit3 bit2
Processing
Time
200 ms
–
max.
Initialization impossible while the servo is
ON.
20 s max.
After initialization, the power supply must
be turned OFF and then ON again.
When using an incremental encoder,
impossible to reset the encoder while the
5 s max. servo is ON.
After execution, the power supply must be
turned OFF and then ON again.
Adjustment is disabled:
• While the main circuit power supply is
5 s max. OFF
• While the servo is ON
• While the servomotor is running
When using an incremental encoder, the
setting is disabled unless A.CC0 (Multiturn
5 s max. Limit Disagreement) occurs.
After execution, the power supply must be
turned OFF and then ON again.
bit1 bit0
DATA_TYPE
Execution Conditions