Read Servo Parameter Command (Svprm_Rd: 40H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.17 Read Servo Parameter Command (SVPRM_RD: 40h)

3.2.17 Read Servo Parameter Command (SVPRM_RD: 40h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Command Parameters
NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter read mode
Servo Parameter Type
Common Parameters
Device Parameter
PARAMETER: Servo parameter data
3-50
2, 3
Within 200 ms
SVPRM_RD
Command Response
40h 40h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
NO NO
SIZE SIZE
MODE MODE
Reserved PARAMETER
RAM area
RAM area
Command
Classification
Subcommand
• The SVPRM_RD command reads the servo parameters
on specification of the servo parameter number, data
size, and the read mode.
• Select the parameter type (common parameter or device
parameter) in the read mode to read the corresponding
servo parameter.
• Confirm the completion of the command execution by
checking that RCMD = SVPRM_RD (= 40h) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for NO, SIZE and MODE.
In the following cases, an alarm will occur. Do not read
PARAMETER in the response in these cases because the
PARAMETER value will be indefinite.
• When the NO data is invalid: CMD_ALM = 9h (A.94A)
• When the SIZE data is invalid: CMD_ALM = 9h (A.94D)
• When the MODE data is invalid: CMD_ALM = 9h (A.94B)
• While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
Reading Source Mode Setting
00h
10h
Servo standard Asynchronous
command command
Cannot be used
Description