xiaomi — Copley Servo (Stepnet protocol)

Series HMI Connection Manual NOTE 1) RB and FB are the bit access of Ram/Flash memory. Therefore, RB0x21.14 indicates bit 14 of Ram memory 0x21. 2) T0, T1 and T2 are virtual devices for simulating Trajectory Generator Command. The number of 0, 1 and 2 indicates the subcommand of that command, so only bit 0 is acceptable. 3) RST is for simulating Reset Command, so only bit 0 is acceptable. 4) CPR and CPF are for simulating Copy Command of Ram and Flash individually. The address (n) after CPR and CPF is just the copy address for Ram/Flash memory.

For example, CPR12 indicates that the content of Ram memory 0x12 will be copied into Flash memory 0x12 and CPF6A indicates that the content of Flash memory 0x6A will be copied into Ram memory 0x6A. 5) T0, T1, T2, RST, CPR, CPF are all read-only and they can not be used on Reset button. 18 V1.00 Revision March, 2010 Format Type Word No. (n) Read/Write Range Note Bit No. (b) BIT_DEVICE_T2 T2b T20 2, 5 BIT_DEVICE_RST RSTb RST0 3, 5 BIT_DEVICE_CPR CPRnn CPR00 – CPRFF Hexadecimal, 4, 5 BIT_DEVICE_CPF CPFnn CPF00 – CPFFF Hexadecimal, 4, 5