Write Servo Parameter Command (Svprm_Wr: 41H) - YASKAWA S-7 Series Command Manual

3.2.18

Write Servo Parameter Command (SVPRM_WR: 41h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4
5
SVCMD_CTRL
6
7
8
9
SVCMD_IO
10
11
12
13
14
15
16
17
18
19
20
21
22
23
PARAMETER
24
25
26
27
28
29
30
31
Command Parameters
NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter write mode
Servo Parameter Type
Common Parameters
Device Parameter
PARAMETER: Servo parameter data
2, 3
Within 200 ms
SVPRM_WR
Response
41h 41h
WDT RWDT
CMD_STAT
SVCMD_STAT
SVCMD_IO
NO NO
SIZE SIZE
MODE MODE
PARAMETER
Writing Destination
RAM area
Retentive memory area
RAM area
Retentive memory area

3.2.18 Write Servo Parameter Command (SVPRM_WR: 41h)

Command
Servo standard
Classification command
Subcommand
Description
• The SVPRM_WR command writes the servo parameters
on specification of the servo parameter number, data
size, and write mode.
• Select the parameter type (common parameter or device
parameter) and the writing destination (RAM area or
retentive memory area) in the write mode to write the cor-
responding servo parameter.
• When specifying offline parameters, the CONFIG com-
mand must be sent to set up after the parameters are
written.
However, the following parameters are not enabled even
if the CONFIG command is sent. You must turn the
power supply OFF and ON again after you change either
of these parameters.
• Pn002 = n.X (External Encoder Usage)
• Pn00C (Application Function Selections C)
• Confirm the completion of the command execution by
checking that RCMD = SVPRM_WR (= 41h) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for NO, SIZE, MODE and PARAMETER.
In the following cases, an alarm will occur and the com-
mand will not be executed.
• 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)
• When the PARAMETER data is invalid:
CMD_ALM = 9h (A.94B)
• While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
Mode Setting
00h
01h
10h
11h
3.2 Servo Commands
Asynchronous
command
Cannot be used
3
3-51