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Register
Name
Address
OW
09
SERVOPACK Parame-
Bit 8
ter Access Selection
SERVOPACK Parame-
OW
50
ter Number
SERVOPACK Parame-
OW
51
ter Size
Monitor Parameters
Register
Name
Address
IL
02
Warnings
IL
04
Alarms
Motion Command
IW
08
Response Code
IW
09
Command Execu-
Bit 0
tion Flag
IW
09
Command Hold
Bit 1
Completed
IW
09
Command Error End
Bit 3
IW
09
Command Execu-
Bit 8
tion Completed
SERVOPACK
IW
36
Parameter Number
SERVOPACK
IL
38
Parameter Read
Data
Timing Charts
Normal Completion
OW
08 = 17 (PRM_RD)
IW
08 = 17 (PRM_RD)
IW
09 Bit 0 (BUSY)
IW
09 Bit 3 (FAIL)
IW
09 Bit 8 (COMPLETE)
Error Completion
OW
08 = 17 (PRM_RD)
IW
08 = 17 (PRM_RD)
IW
09 Bit 0 (BUSY)
IW
09 Bit 3 (FAIL)
IW
09 Bit 8 (COMPLETE)
4.2.16 PRM_RD (Read SERVOPACK Parameter)
Use this bit to select the parameter to read.
0: Vendor-specific parameters
1: Common parameters
Set the number of the SERVOPACK parameter to read.
Set the size of the SERVOPACK parameter to read.
Set the size in words.
Example: For 4 bytes, set this parameter to 2.
Monitored Contents
This parameter reports the current warning status.
This parameter reports the current alarm status.
This parameter shows the motion command currently in execution.
This parameter is 17 during execution of the PRM_RD command.
This bit is 1 (Processing) during execution of the PRM_RD command.
The bit changes to 0 (Completed) when execution ends.
This bit is always 0 (Command hold not completed) for the PRM_RD
command.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the PRM_RD command.
The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
This bit changes to 1 (Normal execution completed) when execution of
the PRM_RD command ends.
This parameter stores the number of the SERVOPACK parameter that
was read.
This parameter stores the data of the SERVOPACK parameter that was
read.
This interval is
not constant.
This interval is
not constant.
4.2 Motion Command Details
Continued from previous page.
Setting Details
4
4-77
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