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4.3 Motion Subcommand Details
4.3.3 PRM_WR (Write SERVOPACK Parameter)
Monitor Parameters
Register
Address
IW
IW
Bit 0
IW
Bit 3
IW
Bit 8
IW
Timing Charts
Normal Completion
OW
IW
IW
IW
IW
Error Completion
OW
IW
IW
IW
IW
4-128
Name
Motion Subcommand
0A
Response Code
0B
Command Execution
Flag
0B
Command Error End
0B
Command Execution
Completed
Auxiliary SERVOPACK
37
Parameter Number
0A = 2 (PRM_WR)
0A = 2 (PRM_WR)
0B Bit 0 (BUSY)
0B Bit 3 (FAIL)
0B Bit 8 (COMPLETE)
0A = 2 (PRM_WR)
0A = 2 (PRM_WR)
0B Bit 0 (BUSY)
0B Bit 3 (FAIL)
0B Bit 8 (COMPLETE)
Monitored Contents
This parameter shows the motion subcommand that is currently in
execution.
This parameter is 2 during execution of the PRM_WR command.
This bit is 1 (Processing) during execution of the PRM_WR command.
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_WR 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_WR command ends.
This parameter reports the number of the SERVOPACK parameter
that was written.
This interval is
not constant.
This interval is
not constant.
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