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4.2 Motion Command Details
4.2.26 PPRM_WR (Write Non-volatile Parameter)
Setting Parameters
Register
Address
OW
OW
Bit 0
OW
Bit 1
OW
Bit 8
OW
OW
OL
Monitor Parameters
Register
Address
IL
IL
IW
IW
Bit 0
IW
Bit 1
IW
Bit 3
IW
Bit 8
Timing Charts
Normal Completion
OW
IW
IW
IW
IW
Error Completion
OW
IW
IW
IW
IW
4-106
Name
08
Motion Commands
09
Hold Command
09
Cancel Command
SERVOPACK
09
Parameter Access
Selection
SERVOPACK
50
Parameter Number
SERVOPACK
51
Parameter Size
SERVOPACK
52
Parameter Set Value
Name
02
Warnings
04
Alarms
Motion Command
08
Response Code
09
Command Execu-
tion Flag
09
Command Hold
Completed
09
Command Error End
09
Command Execu-
tion Completed
08 = 27 (PPRM_WR)
08 = 27 (PPRM_WR)
09 Bit 0 (BUSY)
09 Bit 3 (FAIL)
09 Bit 8 (COMPLETE)
08 = 27 (PPRM_WR)
08 = 27 (PPRM_WR)
09 Bit 0 (BUSY)
09 Bit 3 (FAIL)
09 Bit 8 (COMPLETE)
Set this parameter to 27 (PPRM_WR) to write a non-volatile parameter.
This bit is ignored for the PPRM_WR command.
This bit is ignored for the PPRM_WR command.
Use this bit to select the parameter to write.
0: Vendor-specific parameters
1: Common parameters
Set the number of the SERVOPACK parameter to write.
Set the size of the SERVOPACK parameter to write.
Set the size in words.
Example: For 4 bytes, set this parameter to 2.
Set the set value data to write to the target SERVOPACK parameter.
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 27 during execution of the PPRM_WR command.
This bit is 1 (Processing) during execution of the PPRM_WR command.
The bit changes to 0 (Completed) when execution ends.
This bit is always 0 (Command hold not completed) for the PPRM_WR
command.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the PPRM_WR 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 PPRM_WR command ends.
This interval is
not constant.
This interval is
not constant.
Setting Details
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