YASKAWA Sigma-7-Series Product Manual page 64

Setting Details for the Write Memory (MEM_WR: 1Eh) Com-
mand
 Data Format
Phases in which the
Command can be Executed
Processing Time
MEM_WR
Byte
Command
0 1Eh
1 WDT
2
CMD_CTRL
3
4 Reserved
MODE/DATA_-
5
TYPE
6
SIZE
7
8
9
ADDRESS
10
11
12
13
14
15
16
17
18
19
20
21
DATA
22
23
24
25
26
27
28
29
30
31
Command
2, 3
Classification
Σ-7-Series
MECHATROLINK-III
Communications
Subcommand
Standard Servo Pro-
file Command Man-
ual (Manual No.:
SIEP S800001 31)
Response
• The MEM_WR command writes the data in virtual mem-
1Eh
ory by specifying the initial address, the data size and
RWDT
the data for writing.
• This command provides an adjustment function equiva-
CMD_STAT
lent to that of the ADJ command of the
MECHATROLINK-II compatible profile.
Reserved
• Confirm the completion of the command execution by
MODE/DATA_-
checking that RCMD = MEM_WR (= 1Eh) and
TYPE
CMD_STAT.CMDRDY = 1, and also checking the setting
for ADDRESS, SIZE, MODE/DATA_TYPE and DATA.
SIZE
In the following cases, an alarm will occur and the com-
mand will not be executed.
• When the ADDRESS data is invalid:
ADDRESS
CMD_ALM = 9h (A.94A)
• When the MODE/DATA_TYPE data is invalid:
CMD_ALM = 9h (A.94B)
• When the SIZE data is invalid: CMD_ALM = 9h (A.94D)
• When the DATA data is invalid: CMD_ALM = 9h (A.94B)
• When the conditions for executing the adjustment oper-
ation in the next page are not satisfied: CMD_ALM=Ah
(A.95A)
• While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
Refer to the following manual for details.
Σ-7-Series MECHATROLINK-III Communications
Standard Servo Profile Command Manual
(Manual No.: SIEP S800001 31)
DATA
3.2 Settings for Triggers at Preset Positions
3.2.4 Making Settings with the MEM_WR Command
Common
command
Cannot be used
Description
Asynchronous
command
3
3-13