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

4.8

Read Servo Parameter Subcommand (SVPRM_RD: 40h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
32
33
34 SUB_CTRL
35
36
37
38
39
40
41
42
43
44
45
46
47
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
2, 3
Within 200 ms
SVPRM_RD
Response
40h 40h
SUB_STAT
NO NO
SIZE SIZE
MODE MODE
Reserved PARAMETER
Reading Source
RAM area
RAM area

4.8 Read Servo Parameter Subcommand (SVPRM_RD: 40h)

Command Clas-
Servo standard
sification
command
Subcommand
Description
• The SVPRM_RD subcommand reads the servo parame-
ters on specification of the servo parameter number,
data size, and the read mode.
• Confirm the completion of the subcommand execution
by checking that RSUBCMD = SVPRM_RD (= 40h) and
SUB_STAT.SUBCMDRDY = 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:
SUBCMD_ALM = 9h(A.94A)
• When the SIZE data is invalid:
SUBCMD_ALM = 9h (A.94D)
• When the MODE data is invalid:
SUBCMD_ALM = 9h(A.94B)
• While editing using SigmaWin or digital operator:
SUBCMD_ALM = Ah (A.95A)
Mode Setting
00h
10h
Asynchronous
command
4
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