Details Of Settings With Mem_Wr (Write Memory: 1Eh) Command - YASKAWA Sigma-7 Series Product Manual

Reference: Details of Settings with MEM_WR
(Write Memory: 1EH) Command
 Data Format
Phases in which the Com-
mand can be Executed
Processing Time
MEM_WR
Byte
Command
0 1EH
1 WDT
2
CMD_CTRL
3
4 Reserved.
MODE/
5
DATA_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 Clas-
2, 3
sification
Σ
-7-Series
MECHATROLINK-
III Communica-
tions Standard
Subcommand
Servo Profile
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 MECHA-
TROLINK-II compatible profile.
Reserved.
• Confirm the completion of the command execution by
MODE/
checking that RCMD = MEM_WR (= 1EH) and
DATA_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: CMD_ALM = 9H
ADDRESS
(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 are not satisfied: CMD_ALM=AH (A.95A)
• While editing using the SigmaWin or Digital Operator:
CMD_ALM = AH (A.95A)
For details, refer to the following manual.
Σ
-7-Series MECHATROLINK-III Communications Stan-
dard Servo Profile Command Manual
(Manual No.: SIEP S800001 31)
DATA
3.4 Position Correction Table Settings
3.4.4 Setting Method with the MEM_WR Command
Common com-
mand
Cannot be used
Description
Asynchronous
command
3
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