YASKAWA MP2100 Series User Manual page 273

8 Motion Commands
(3) Related Parameters
(a) Setting Parameters
Parameter
OW 08
OB 090
OB 091
OW 50
OW 51
(b) Monitoring Parameters
Parameter
IL 02
IL 04
IW 08
IB 090
IB 091
IB 093
IB 098
IW 36
IL 38
(4) Timing Charts
(a) Normal End
(b) Error End
8-64
Name
Motion Command The SERVOPACK parameter is read when this parameter is set to 17.
Command Pause This parameter is ignored for PRM_RD command.
Command Abort This parameter is ignored for PRM_RD command.
Servo Constant Set the number of the SERVOPACK parameter to be read.
Number
Servo Constant Set the size of the SERVOPACK parameter to be read.
Number Size
Name
Warning Stores the most current warning.
Alarm Stores the most current alarm.
Servo Command
Indicates the motion command that is being executed.
Type Response
The response code will be 17 during PRM_RD command execution.
Command Executing Turns ON during PRM_RD command execution and turns OFF when execution
has been completed.
Hold Completed
Always OFF for PRM_RD command.
Command Error End Turns ON if an error occurs during PRM_RD command execution. Turns OFF
when another command is executed.
Command Turns ON when PRM_RD command execution has been completed.
Completed
Servo Constant
Stores the number of the SERVOPACK parameter that was read.
Number
Servo User Constant
Stores the data of the SERVOPACK parameter that was read.
OW 08 = 17 (PRM-RD)
IW 08 = 17 (PRM-RD)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
OW 08 = 17 (PRM-RD)
IW 08 = 17 (PRM-RD)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
Setting
Monitor Contents
Undefined
length of time
Undefined
length of time