### Σ-7 Series

Device | Bit Address | Word Address | 32 bits | Notes
--- | --- | --- | --- | ---
Normal Parameters Area | 0000.0 - 0FFF.F | 0000 - 0FFF |  | *1 *2*3
Temporary Parameters Area | 1000.0 - 1FFF.F | 1000 - 1FFF | *1 *2 *3
Monitor Area | E000.0 - EFFF.F | E000 - EFFF | *1 *3

*1When you write to the bit address, the Display reads the entire word, sets the defined bit, then returns the new word value to the External Device. If the ladder program writes data to this word address during the bit write process, the resulting data may be incorrect.

*2You cannot run block read or block write with the following addresses.

07FFH - 0800H
17FFH - 1800H

*3The following addresses are 32 bit parameters. Please use two words when reading or writing.

- Normal Parameters Area

020AH / 020EH / 0210H / 0212H / 0231H / 0282H / 051BH / 0520H / 0522H / 0524H / 0526H /
0531H / 0804H / 0806H / 0808H / 0814H / 0819H / 0820H / 0822H / 0834H / 0836H / 0838H /
083AH / 083CH / 083EH / 0840H / 0842H / 0844H / 0890H / 08A8H / 0A02H / 0A04H / 0A06H /
0A08H / 0A0AH / 0A0CH / 0A0EH / 0A10H / 0A12H / 0A14H / 0A16H / 0A18H / 0A42H / 0A44H /
0A46H / 0A48H / 0A4AH / 0A4CH / 0A4EH / 0A50H / 0A52H / 0A82H / 0A84H / 0A86H / 0A88H /
0A8AH / 0A8CH / 0A8EH / 0A90H / 0A92H / 0AC2H / 0AC4H / 0AC6H / 0AC8H / 0ACAH / 0ACCH /
0ACEH / 0B02H / 0B04H / 0B06H / 0B08H / 0B0AH / 0B0CH / 0B0EH / 0B10H / 0B12H / 0B14H /
0B16H / 0B18H / 0B1AH / 0B1CH / 0B1EH / 0B20H / 0B22H / 0B24H / 0B26H/

1. - Temporary Parameters Area

120AH / 120EH / 1210H / 1212H / 1282H / 151BH / 1520H / 1522H / 1524H / 1526H / 1531H /
1804H / 1806H / 1808H / 1814H / 1819H / 1820H / 1822H / 1834H / 1836H / 1838H / 183AH /
183CH / 183EH / 1840H / 1890H / 1892H / 1894H / 1896H / 1898H / 189AH / 189CH / 189EH /
18A0H / 18A2H / 18A4H / 18A6H / 18A8H / 18AAH / 18ACH / 18AEH / 18B0H / 18B2H / 18B4H /
18B6H / 18B8H / 18BAH / 18BCH / 18BEH / 1A02H / 1A04H / 1A06H / 1A08H / 1A0AH / 1A0CH /
1A0EH / 1A10H / 1A12H / 1A14H / 1A16H / 1A18H / 1A42H / 1A44H / 1A46H / 1A48H / 1A4AH /
1A4CH / 1A4EH / 1A50H / 1A52H / 1A82H / 1A84H / 1A86H / 1A88H / 1A8AH / 1A8CH / 1A8EH /
1A90H / 1A92H / 1AC2H / 1AC4H / 1AC6H / 1AC8H / 1ACAH / 1ACCH / 1ACEH / 1B02H / 1B04H /
1B06H / 1B08H / 1B0AH / 1B0CH / 1B0EH / 1B10H / 1B12H / 1B14H / 1B16H / 1B18H / 1B1AH /
1B1CH / 1B1EH / 1B20H / 1B22H / 1B24H / 1B26H /

1. - Monitor Area

E003H / E009H / E00EH / E010H / E012H / E016H / E01BH / E030H / E032H / E035H / E037H /
E084H / E52AH / E52CH / E52EH / E530H / E532H / E534H / E536H / E538H / E53AH / E53CH /
E548H / E54AH / E54CH / E54EH / E550H / E552H / E554H / E556H / EC00H / EC02H / EC04H /
EC06H / EC08H / EC0AH / EC0CH / EC0EH / EC10H / EC12H / EC14H / EC16H

NOTE

- Please refer to the precautions on manual notation for icons in the table.

Supported Devices Symbol and Terms

## Normal Parameters Area

This area is used to map the External Device's user constant parameters. The register number is defined by adding the Pn number and the offset value. The normal parameters area offset value is 0000H.

For details on the Pn number and register mapping, please refer to the manual of the External Device.

Operation | Description
--- | ---
Read | Reads volatile memory such as RAM for values. Unable to read values from non-volatile memory such as EEPROM.
Write | Writes values to volatile memory such as RAM, and non-volatile memory such as EEPROM.

NOTE

- You cannot run consecutive reads from, or consecutive writes to, different register groups.
  Example: When consecutively reading from or writing to 07FFH to 0800H, the message "Data Consistency Error (33H)" or "Access Denied Error (31H)" is displayed.

- If you specify a nonexistent register number, the message "Access Denied Error (31H)," is displayed.

## Temporary Parameters Area

This area is used to map the External Device's user constant parameters. The register number is defined by adding the Pn number and the offset value. The temporary parameters area offset value is 1000H.

For details on the Pn number and register mapping, please refer to the manual of the External Device.

Operation | Description
--- | ---
Read | Reads volatile memory such as RAM for values.
Write | Writes values to volatile memory such as RAM.

Since writing to Temporary Parameters Area is run in volatile memory (such as RAM), values are cleared when the External Device is turned OFF.

If there is an operation, such as servo tuning, that requires an extreme number of write operations to memory, running the operation in the Temporary Parameters Area generates the following advantages.

- You can increase the life of non-volatile memory.

- You can reduce processing time.

NOTE

- You cannot run consecutive reads from, or consecutive writes to, different register groups.
  Example: When consecutively reading from or writing to 17FFH to 1800H, the message "Data Consistency Error (33H)" or "Access Denied Error (31H)" is displayed.
- If you specify a nonexistent register number, the message "Access Denied Error (31H)," is displayed.

## Monitor Area

This area is used to reference internal information (such as operating condition, alarm status, and various status flags) on the External Device. By referring to the value of a register number, you can check the status of the External Device. While the External Device is running, register values change constantly.

Register No. | Name | Unit | No. of Registers | Sign | Remarks
--- | --- | --- | --- | --- | ---
E000H | Motor Rotational/Translational Speed | Rotary: min-1 | 1 | S | Un000 Average 64 ms
Linear: mm/s
E001H | Reference Speed | Rotary: min-1 | 1 | S | Un001
Linear: mm/s
E002H | Internal Torque/Thrust Force Reference | % | 1 | S | Un002
E003H | Rotational Angle 1 (Number of Pulses from the Origin) | Pulse | 2 | U | Un003
E005H | Rotational Angle 2 (Angle from the Origin) | deg | 1 | U | Un004
E006H | Input Signal Monitor | - | 1 | - | Un005
E007H | Output Signal Monitor | - | 1 | - | Un006
E008H | Input Reference Pulse Speed | Rotary: min-1 | 1 | S | Un007 Average 64 ms
Linear: mm/s
E009H | Position Error Counter | Reference unit | 2 | S | Un008
E00BH | Accumulated Load Rate | %(10s cycle) | 1 | U | Un009
E00CH | Regenerative Load Rate | %(10s cycle) | 1 | U | Un00A
E00DH | Dynamic Break Consumption Power | %(10s cycle) | 1 | U | Un00B
E00EH | Input Reference Pulse Counter (32bit) | Pulse | 2 | S | Un00C
E010H | Feedback Pulse Counter (32bit) | Pulse | 2 | S | Un00D
E012H | Fully-closed Feedback Pulse Counter (32bit) | Pulse | 2 | S | Un00E
E016H | Total Operation Time | 100ms | 2 | U | Un012
E018H | Upper Limit of Maximum Motor Speed | mm/s | 1 | U | Un010 (Available only in linear motor)
E019H | Upper Limit of Divided Pulse Output Setting | Pulse/Pitch | 1 | U | Un010 (Available only in linear motor)
E01AH | Magnetic Pole Sensor Information | - | 1 | - | Un011
E01BH | Feedback Pulse Counter | Reference unit | 2 | S | Un013
E01DH | Effective Gain Set Number | - | 1 | U | Un014
E01EH | Safety I/O Signal Monitor | - | 1 | - | Un015
E02CH | Installation Environment monitor | % | 1 | S | Un025
E02DH | Servomotor Installation Environment Monitor | % | 1 | S | Un026
E02EH | Main Circuit DC Voltage | V | 1 | S | Un023
E030H | Backlash Compensation Amount | Reference unit | 2 | S | Un030
E032H | Backlash Compensation Setting Upper Limit | Reference unit | 2 |  | Un031
E034H | Power Consumption | [W] | 1 | S | Un032
E035H | Consumed Power | [Wh] | 2 | S | Un033
E037H | Cumulative Power Consumption (integral part) | [Wh] | 2 | S | Un034
E039H | Cumulative Power Consumption (decimal part) | [0.001Wh] | 1 | S |
E050H | Built-in Fan Remaining Life Ratio | 0.01% | 1 | U | Un027
E051H | Capacitor Remaining Life Ratio | 0.01% | 1 | U | Un028
E052H | Surge Prevention Circuit Remaining Life Ratio | 0.01% | 1 | U | Un029
E053H | Dynamic Brake Circuit Remaining Life Ratio | 0.01% | 1 | U | Un02A
E084H | Linear Scale Pitch | pm | 2 | U | Un084
E086H | Linear Scale Pitch Scaling Exponent | Power of Ten | 1 | S | Un085
E500H | Alarm History Alarm Code No. = 0 | Code | 1 | U | Fn000-0
E501H | Alarm History Alarm Code No. = 1 | Code | 1 | U | Fn000-1
E502H | Alarm History Alarm Code No. = 2 | Code | 1 | U | Fn000-2
E503H | Alarm History Alarm Code No. = 3 | Code | 1 | U | Fn000-3
E504H | Alarm History Alarm Code No. = 4 | Code | 1 | U | Fn000-4
E505H | Alarm History Alarm Code No. = 5 | Code | 1 | U | Fn000-5
E506H | Alarm History Alarm Code No. = 6 | Code | 1 | U | Fn000-6
E507H | Alarm History Alarm Code No. = 7 | Code | 1 | U | Fn000-7
E508H | Alarm History Alarm Code No. = 8 | Code | 1 | U | Fn000-8
E509H | Alarm History Alarm Code No. = 9 | Code | 1 | U | Fn000-9
E50AH | Current Alarm Information | Code | 1 | U |
E51BH | Servo Running Status | - | 1 | U |
E51CH | Control Mode Status | - | 1 | U |
E52AH | Alarm History Time Stamp No. = 0 | 100ms | 2 | U |
E52CH | Alarm History Time Stamp No. = 1 | 100ms | 2 | U |
E52EH | Alarm History Time Stamp No. = 2 | 100ms | 2 | U |
E530H | Alarm History Time Stamp No. = 3 | 100ms | 2 | U |
E532H | Alarm History Time Stamp No. = 4 | 100ms | 2 | U |
E534H | Alarm History Time Stamp No. = 5 | 100ms | 2 | U |
E536H | Alarm History Time Stamp No. = 6 | 100ms | 2 | U |
E538H | Alarm History Time Stamp No. = 7 | 100ms | 2 | U |
E53AH | Alarm History Time Stamp No. = 8 | 100ms | 2 | U |
E53CH | Alarm History Time Stamp No. = 9 | 100ms | 2 | U |
E53EH | Alarm History Counter 0 | - | 1 | U |
E53FH | Alarm History Counter 1 | - | 1 | U |
E540H | Alarm History Counter 2 | - | 1 | U |
E541H | Alarm History Counter 3 | - | 1 | U |
E542H | Alarm History Counter 4 | - | 1 | U |
E543H | Alarm History Counter 5 | - | 1 | U |
E544H | Alarm History Counter 6 | - | 1 | U |
E545H | Alarm History Counter 7 | - | 1 | U |
E546H | Alarm History Counter 8 | - | 1 | U |
E547H | Alarm History Counter 9 | - | 1 | U |
E548H | Alarm Trace Data Address 0 | - | 2 | U |
E54AH | Alarm Trace Data Address 1 | - | 2 | U |
E54CH | Alarm Trace Data Address 2 | - | 2 | U |
E54EH | Alarm Trace Data Address 3 | - | 2 | U |
E550H | Alarm Trace Data Address 4 | - | 2 | U |
E552H | Alarm Trace Data Address 5 | - | 2 | U |
E554H | Alarm Trace Data Address 6 | - | 2 | U |
E556H | Alarm Trace Data Address 7 | - | 2 | U |
EC00H | Feedback position (APOS) | Reference unit | 2 | S |
EC02H | Current FFE(CPOS) | Reference unit | 2 | S |
EC04H | Position deviation (PERR) | Reference unit | 2 | S |
EC06H | Target position in the reference coordinate system (TPOS) | Reference unit | 2 | S |
EC08H | Feedback latch position in the machine coordinate system1(LPOS1) | Reference unit | 2 | S |
EC0AH | Feedback latch position in the machine coordinate system2(LPOS2) | Reference unit | 2 | S |
EC0CH | Feedback latch position in the machine coordinate system3(LPOS3) | Reference unit | 2 | S |
EC0EH | Target Speed (TSPD) | Speed Reference unit | 2 | S |
EC10H | Feedback Speed (FSPD) | Speed Reference unit | 2 | S |
EC12H | Reference Speed (CSPD) | Speed Reference unit | 2 | S |
EC14H | Torque Limit(TRQ_LIM) | Torque Reference unit | 2 | U |
EC16H | Speed Limit(SPD_LIM) | Speed Reference unit | 2 | U |
EC18H | M-III Current Communications Phase | - | 1 | U | M-III only
EC19H | M-III Current Operating Command Code (RCMD) | - | 1 | U | M-III only (hexadecimal)
EC1AH | M-III Current Operating Subcommand Code (SUB_RCMD) | - | 1 | U | M-III only (hexadecimal)

- Input Signal Monitor (E006H)

Σ-7S series

Bit | Status Signal | Logic | Un No.
--- | --- | --- | ---
0 | SI0 | 0 = Lo (Close) 1 = Hi (Open) | Un005
1 | SI1 | 0 = Lo (Close) 1 = Hi (Open)
2 | SI2 | 0 = Lo (Close) 1 = Hi (Open)
3 | SI3 | 0 = Lo (Close) 1 = Hi (Open)
4 | SI4 | 0 = Lo (Close) 1 = Hi (Open)
5 | SI5 | 0 = Lo (Close) 1 = Hi (Open)
6 | SI6 | 0 = Lo (Close) 1 = Hi (Open)
8 to 15 | Reserved |

Σ-7W / Σ-7C series

Bit | Status Signal | Logic | Un No.
--- | --- | --- | ---
0 | SI0 | 0 = Lo (Close) 1 = Hi (Open) | Un005
1 | SI1 | 0 = Lo (Close) 1 = Hi (Open)
2 | SI2 | 0 = Lo (Close) 1 = Hi (Open)
3 | SI3 | 0 = Lo (Close) 1 = Hi (Open)
4 | SI4 | 0 = Lo (Close) 1 = Hi (Open)
5 | SI5 | 0 = Lo (Close) 1 = Hi (Open)
6 | SI6 | 0 = Lo (Close) 1 = Hi (Open)
7 | SI7 | 0 = Lo (Close) 1 = Hi (Open)
8 | SI8 | 0 = Lo (Close) 1 = Hi (Open)
9 | SI9 | 0 = Lo (Close) 1 = Hi (Open)
10 | SI10 | 0 = Lo (Close) 1 = Hi (Open)
11 | SI11 | 0 = Lo (Close) 1 = Hi (Open)
12 to 15 | Reserved |

- Output Signal Monitor (E007H)

Σ-7S series

Bit | Status Signal | Logic | Un No.
--- | --- | --- | ---
0 | ALM | 0 = Lo (Close) 1 = Hi (Open) | Un006
1 | SO1 | 0 = Lo (Close) 1 = Hi (Open)
2 | SO2 | 0 = Lo (Close) 1 = Hi (Open)
3 | SO3 | 0 = Lo (Close) 1 = Hi (Open)
7 to 15 | Reserved |

Σ-7W / Σ-7C series

Bit | Status Signal | Logic | Un No.
--- | --- | --- | ---
0 | ALM | 0 = Lo (Close) 1 = Hi (Open) | Un006
1 | SO1 | 0 = Lo (Close) 1 = Hi (Open)
2 | SO2 | 0 = Lo (Close) 1 = Hi (Open)
3 | SO3 | 0 = Lo (Close) 1 = Hi (Open)
4 | SO4 | 0 = Lo (Close) 1 = Hi (Open)
5 | SO5 | 0 = Lo (Close) 1 = Hi (Open)
6 | SO6 | 0 = Lo (Close) 1 = Hi (Open)
7 to 15 | Reserved |

- Safety I/O Signal Monitor (E01EH)

Bit | Status Signal | Logic | Un No.
--- | --- | --- | ---
0 | /HWBB1 | 0 = Lo (Close) 1 = Hi (Open) | Un015
1 | /HWBB2 | 0 = Lo (Close) 1 = Hi (Open)
2 to 15 | Reserved |

NOTE

- /HWBB1 and /HWBB2 are valid only when the safety option card is not connected. When the safety option card is connected, they become indefinite.

- Servo Running Status (E51BH)

Reading | Description
--- | ---
0000H | Reserved (Initial State)
0001H | Alarm Occurred (A.***)
0002H | Hardwired Base Blocked (HWBB)
0003H | Forward / Reverse Run Prohibited (PTNT)
0004H | Forward Run Prohibited (P-OT)
0005H | Reverse Run Prohibited (N-OT)
0006H | Base Blocked (BB)
0007H | Base Enabled (RUN)
0008H | Magnetic Pole Detecting (PDET)
0009H | Active Mode ON(ACT)
000AH | Force Stop ON(FSTP)
0103H | Safety Function Monitor ON & Forward / Reverse Run Prohibited (PTNT)
0104H | Safety Function Monitor ON & Forward Run Prohibited (P-OT)
0105H | Safety Function Monitor ON & Reverse Run Prohibited (N-OT)
0106H | Safety Function Monitor ON & Base Blocked (BB)
0107H | Safety Function Monitor ON & Base Enabled (RUN)
0108H | Safety Function Monitor ON & Magnetic Pole Detecting (PDET)
0109H | Safety Function Monitor ON & Active Mode ON(ACT)
010AH | Safety Function Monitor ON & Force Stop ON(FSTP)
0203H | Safety Function Safe ON & Forward / Reverse Run Prohibited (PTNT)
0204H | Safety Function Safe ON & Forward Run Prohibited (P-OT)
0205H | Safety Function Safe ON & Reverse Run Prohibited (N-OT)
0206H | Safety Function Safe ON & Base Blocked (BB)
0207H | Safety Function Safe ON & Base Enabled (RUN)
0208H | Safety Function Safe ON & Magnetic Pole Detecting (PDET)
0209H | Safety Function Safe ON & Active Mode ON(ACT)
020AH | Safety Function Safe ON & Force Stop ON(FSTP)

- Control Mode Status (E51CH)

Reading | Description
--- | ---
0000H | Speed Control Mode
0001H | Position Control Mode
0002H | Torque Control Mode

NOTE

- JOG Drive Mode, Origin Search Mode, and Internally Set Speed Control Mode become Speed control mode.
- Programmed JOG Drive Mode, Advanced Auto-Tuning Mode, and Easy FFT Mode become Position Control Mode.