Iw 37 Constant Number Il - YASKAWA JEPMC-MP2300-Y Series User Manual

7.4.2 Read SERVOPACK Parameter (PRM_RD)
The PRM_RD command reads the setting of the parameter with the specified parameter number and
parameter size from SERVOPACK RAM. It stores the parameter number in the Auxiliary Servo User
Constant Number (monitoring parameter IW
stant (monitoring parameter IL
( 1 ) Executing/Operating Procedure
No.
1 Motion subcommand execution has been completed.
( 2 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW 0A Motion Subcommand
Auxiliary Servo User
OW 54
Constant Number
Auxiliary Servo Constant
OW 55
Number Size
[ b ] Monitoring Parameters
Parameter
Motion Subcommand
IW 0A
Response Code
IB 0B0 Command Executing
IB 0B3
Command Error End
Command Execution
IB 0B8
Completed
Auxiliary Servo User
IW 37
Constant Number
Auxiliary Servo User
IL 3A
Constant
This command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
2.
Set OW 0A to 1 to execute the PRM_RD motion subcommand.
The PRM_RD command will read the SERVOPACK parameter and store it in the monitoring
parameters.
IW 0A will be 1 during command execution.
IB 0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.
3.
Set OW 0A to 0 to execute the NOP motion command and then complete the
reading operation.
Name
The SERVOPACK parameter is read when this parameter is set to 1.
Set the parameter number of the SERVOPACK parameter to be read.
Set the size of the SERVOPACK parameter to be read.
Set the size in words.
Name
Indicates the motion subcommand that is being executed.
The response code is 1 during PRM_RD command execution.
Turns ON during PRM_RD command execution and turns OFF when execution has
been completed.
Turns ON if an error occurs during PRM_RD command execution. Turns OFF
when another command is executed.
Turns ON when PRM_RD command execution has been completed.
Stores the parameter number of the SERVOPACK parameter being read.
Stores the SERVOPACK parameter data that was read.
37) and the setting in the Auxiliary Servo User Con-
3A)
IW
Setting Contents
The SERVOPACK's user manual lists the size in bytes, so those values
must be converted to words.
Monitoring Contents
7.4 Motion Subcommand Details
Confirmation Method
0A is 0 and IB 0B0 is OFF.
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