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

4.9 Write Servo Parameter Subcommand (SVPRM_WR: 41h)

4.9

Write Servo Parameter Subcommand (SVPRM_WR: 41h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
Note: If the main command and subcommand specifying the same NO are received at the same time as new com-
mands, the main command takes precedence and the alarm specified by SUBCMD_ALM occurs for the sub-
command.
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
4-10
2, 3
Within 200 ms
SVPRM_WR
Command Response
41h 41h
SUB_CTRL SUB_STAT
NO NO
SIZE SIZE
MODE MODE
PARAMETER PARAMETER
Reading Source
RAM area
Nonvolatile memory area
RAM area
Nonvolatile memory area
Command
Servo standard
Classification
command
Subcommand
Description
• The SVPRM_WR subcommand writes the servo param-
eters on specification of the servo parameter number,
data size, and write mode.
• Confirm the completion of the subcommand execution
by checking that RSUBCMD = SVPRM_WR (= 41h) and
SUB_STAT.SUBCMDRDY = 1, and also checking the
setting for NO, SIZE, MODE and PARAMETER.
In the following cases, an alarm will occur and the sub-
command will not be executed.
• 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)
• When the PARAMETER data is invalid:
SUBCMD_ALM = 9h (A.94B)
• While editing using SigmaWin or digital operator:
SUBCMD_ALM = Ah (A.95A)
Mode Setting
00h
01h
10h
11h
Asynchronous
command