3.4 Position Correction Table Settings
3.4.4 Setting Method with the MEM_WR Command
3-24
Command Parameters
The details of MODE/DATA_TYPE are described below.
MODE = 1: Volatile memory, 2: Non-volatile memory*
DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported
* MECHATROLINK-III common parameters can directly write to non-volatile memory.
Other parameters first write to volatile memory, and then write to non-volatile memory.
SIZE: Data size for writing (type specified by DATA_TYPE)
ADDRESS: Initial address for writing
DATA: Data to be written
Command Warnings
The details of CMD_ALM of the MEM_RD/MEM_WR command are described below.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MODE DATA_TYPE
CMD_ALM
Displayed
Code
Error Details
9H
A.94A
When an initial address outside the defined areas is specified
When an address within the reserved ranges of common parameter or vendor-
specific areas is specified
When a value other than a multiple of the data size specified in DATA_TYPE is set
for ADDRESS
A.94B When the MODE or DATA_TYPE data is invalid
A.94D
When the initial address is within the defined areas but the specified size goes
beyond those areas
When a data size beyond the specification of the command format is set for SIZE
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