Pprm_Wr (Write Non-Volatile Parameter) - YASKAWA SVC User Manual

4.2.26

PPRM_WR (Write Non-volatile Parameter)

The PPRM_WR command overwrites the setting of the specified SERVOPACK parameter in
non-volatile memory given with the parameter number, parameter size, and set value data, and
then simultaneously applies the result of that operation to the parameter in RAM.
Two types of SERVOPACK parameters can be written with this command: vendor-specific
parameters, which are vendor-specific specifications for the particular Servo product used, and
Servo common parameters, which are defined in the MECHATROLINK-III communications
specifications. Set bit 8 (SERVOPACK Parameter Access Selection) in the OW09 setting
parameter to select which type of SERVOPACK parameter to write.
1. The number of times that the non-volatile memory of the SERVOPACK can be written to
depends on the specifications of the device. Use the PPRM_WR command only when abso-
lutely necessary. You should normally write parameters with the PRM_WR (Write SERVOPACK
Important
Parameter) command.
2. Be careful when setting the OW50 setting parameter (SERVOPACK Parameter Number).
If the wrong number is specified for this parameter, it could cause errors in later operations.
3. For some parameters, the power must be turned OFF and ON again to enable a change in the
parameter. Always turn the power to the SERVOPACK OFF and ON again when changes are
made to these parameters. Refer to the relevant SERVOPACK manual for details on parame-
ters.
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
No.
1
2
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2.
Set the following setting parameters.
• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW50 (SERVOPACK Parameter Number)
• OW51 (SERVOPACK Parameter Size)
• OL52 (SERVOPACK Parameter Set Value)
3.
Set the OW08 setting parameter (Motion Commands) to 27 to execute the
PPRM_WR motion command.
The SERVOPACK parameter is overwritten.
The IW08 monitor parameter (Motion Command Response Code) is 27 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
4.
Set OW08 to 0 to execute the NOP motion command.
This concludes the process for writing to non-volatile parameters.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
Execution Condition
Motion command execution for the target axis
must be completed.*
Must be ready for motion operation.
4.2 Motion Command Details
4.2.26 PPRM_WR (Write Non-volatile Parameter)
Confirmation Method
IW08 must be 0 and bit 0 in
IW09 must be 0.
Bit 0 in IW00 must be 1.
4
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