Creating And Changing Command Blocks - YASKAWA SGD7S Product Manual

Service
Name
Code
0x10 Set_Attribute_Single
The following example is for when the Target Speed Change command is sent. The following Target
Example
Speed Change command is used.
0x09
0x02
0x40
0x1F
0x00
0x00
The following table shows an example of when this command is stored in command block 1 by
using the Set_Attribute_All service.
• Command (Master Device to SERVOPACK)
7 6 5
0 0
0
• Response (SERVOPACK to Master Device)
7 6 5
0 0
1
Note: If the Set_Attribute_Single service is used, you must write the data in the following order: the Target Speed
Change command, the next command block number, and then the target speed.
If you change a command block under the following conditions, an error will occur.
• The current block is still being executed.
• An alarm has occurred in the SERVOPACK.
Important
Meaning
Changes the value of
the specified attribute.
Target Speed Change command
Number of the next command block to
execute
Target speed = 8,000 reference units/s
4 3 2
0
0x02
0x27 (object number)
0x01 (instance ID)
0x09
0x02
0x40
0x1F
0x00
0x00
4 3 2
0
0x02
0x09
0x02
0x40
0x1F
0x00
0x00
13.4 Programmed Operation

13.4.5 Creating and Changing Command Blocks

Continued from previous page.
Remarks
Use this service to change only one attribute in
a command block.
If you change the command assembly code of
the command block in attribute 1, all data from
attribute 2 to attribute 7 will be initialized.
If you change the command block with this ser-
vice, change the attributes in sequence starting
with the attribute with the smallest number.
1 0
1 0
13
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