Command code 0x10: Rewrite multiple continuous function codes of the servo driver Command code 0x08: Line diagnosis Note: Command code 0x08 is only used to check whether the line is connected. 9.5 Description of the protocol format 9.5.1 Address code Servo driver slave address. Setting range 1-247. 9.5.2 Function code 9.5.3 Register address distribution Note: Frequent writing of parameters required to be frequently written to EEPROM may cause damage to EEPROM due to the limited read/write life span of the EEPROM (about 1 million times). 188 Technical Manual for EA190 Series Servo Driver V100 Details of the ADU part Number of bytes Scope Request sent by the host:
Slave address 1 0x00-0xFEH Command code 1 0x10 Starting address of register 2 0x0000-0xFFFF Number of registers 2 0x0000-0x0020 Bytes of register content 1 2*Number of registers Register content 2*Number of registers CRC check 2 Slave acknowledgement: Slave address 1 Address of the unit Command code 1 0x10 Starting address of register 2 0x0000-0xFFFF Number of registers 2 0x0000-0x0020 CRC check 2 Details of the ADU part Number of bytes Scope Request sent by the host: Slave address 1 0x00-0xFEH Command code 1 0x08 Sub-function code 2 0x0000 Data 2 0x0000-0xFFFF CRC check 2 Slave acknowledgement:
Slave address 1 Address of the unit Command code 1 0x08 Sub-function code 2 0x0000 Data 2 0x0000-0xFFFF CRC check 2 Function code Function 03H Read a function code of the servo driver 06H Write a single function code of the servo driver (this operation is not intended for a 32-bit function code) 10H Write multiple continuous function codes of the servo driver (For a 32-bit function code, use 10H for operation, with one function code occupying 2 consecutive addresses) 08H Line diagnosis Item Address Space Description Function parameter address 0000H-3FxxH When P7-04 = 0 and P7-05 = 1, this address segment corresponds to the EEPROM address of the driver; parameters written to these addresses will be saved.
For example: The EEPROM address corresponding to P2-01 is 0201H (when P7-04 = 0 and P7-05 = 1) 8000H-BFxxH If it is required to frequently modify the parameters, content of the RAM register shall be modified; when P7-04 = 0 and P7-05 = 1, the function parameter address shall be defined as +8000H For example: The RAM register address corresponding to P2-01 is 8201H (when P7-04 = 0 and P7-05 = 1)