Prm_Wr (Write Servopack Parameter) - YASKAWA SVC User Manual

4.3.3

PRM_WR (Write SERVOPACK Parameter)

The PRM_WR subcommand overwrites the setting of a SERVOPACK parameter using the
specified parameter number, parameter size, and set value data. The data is written to the
SERVOPACK 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.
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
No.
1
2
*
This subcommand cannot be executed until the execution of other motion subcommands is completed.
2.
Set the following setting parameters.
• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW54 (Auxiliary SERVOPACK Parameter Number)
• OW55 (Auxiliary SERVOPACK Parameter Size)
• OL56 (Auxiliary SERVOPACK Parameter Set Value)
3.
Set the OW0A setting parameter (Motion Subcommands) to 2 to execute the
PRM_WR motion subcommand.
The SERVOPACK parameter is overwritten.
The IW0A monitor parameter (Motion Subcommand Response Code) is 2 during execution of
this command.
During command processing, bit 0 (Command Execution Flag) in the IW0B monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
4.
Set OW0A to 0 to execute the NOP motion subcommand.
This concludes the process for writing SERVOPACK parameters.
Related Parameters
The parameters that are related to this subcommand are listed in the following table.
 Setting Parameters
Register
Address

OW 09
Bit 8

OW 0A

OW 54

OW 55

OL 56
Execution Condition
Execution of motion subcommands must be
completed.*
OW54, OW55, and OL56 must
all be set.
Name
Use this bit to select the parameter to write.
SERVOPACK Parame-
0: Vendor-specific parameters
ter Access Selection
1: Common parameters
Set this parameter to 2 (PRM_WR) to write a SERVOPACK parame-
Motion Subcommands
ter.
Auxiliary SERVOPACK
Set the number of the SERVOPACK parameter to write.
Parameter Number
Set the size of the SERVOPACK parameter to write.
Set the size in words.
Auxiliary SERVOPACK
Setting Precautions
Parameter Size
The SERVOPACK user manual lists the parameter sizes in bytes, so
those values must be converted to words.
Auxiliary SERVOPACK
Set the set value data to write to the target SERVOPACK parameter.
Parameter Set Value
4.3 Motion Subcommand Details
4.3.3 PRM_WR (Write SERVOPACK Parameter)
Confirmation Method
IW0A must be 0 and bit 0 in
IW0B must be 0.
Refer to the list of setting parameters
below.
Setting Details
4
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