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4.3 Motion Subcommand Details
4.3.2 PRM_RD (Read SERVOPACK Parameter)
Monitor Parameters
Register
Address
IW
IW
Bit 0
IW
Bit 3
IW
Bit 8
IW
IL
Timing Charts
Normal Completion
OW
IW
IW
IW
IW
IW
IL
Error Completion
OW
IW
IW
IW
IW
IW
IL
4-126
Name
Motion Subcommand
0A
Response Code
0B
Command Execution
Flag
0B
Command Error End
0B
Command Execution
Completed
Auxiliary SERVOPACK
37
Parameter Number
Auxiliary SERVOPACK
3A
Parameter Read Data
0A = 1 (PRM_RD)
0A = 1 (PRM_RD)
0B Bit 0 (BUSY)
0B Bit 3 (FAIL)
0B Bit 8 (COMPLETE)
37
3A
0A = 1 (PRM_RD)
0A = 1 (PRM_RD)
0B Bit 0 (BUSY)
0B Bit 3 (FAIL)
0B Bit 8 (COMPLETE)
37
3A
Monitored Contents
This parameter shows the motion subcommand that is currently in
execution.
This parameter is 1 during execution of the PRM_RD command.
This bit is 1 (Processing) during execution of the PRM_RD com-
mand. The bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the PRM_RD command. 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.
Undefined value
Parameter number
Undefined value
Parameter
This interval is
not constant.
Undefined value
Undefined value
1 scan
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