YASKAWA JEPMC-MP2300-Y Series User Manual page 456

7 Motion Commands
7.4.2 Read SERVOPACK Parameter (PRM_RD)
( 3 ) Timing Charts
[ a ] Normal End
OW
IW
IB
IB
IB
IW
IL
[ b ] Error End
( 4 ) Write SERVOPACK Parameter (PRM_WR)
( 1 ) Executing/Operating Procedure
No.
1
2
7-98
0A = 1 (PRM-RD)
0A = 1 (PRM-RD)
0B0 (BUSY)
0B3 (FAIL)
0B8 (COMPLETE)
37
3A
OW 0A = 1 (PRM-RD)
IW 0A = 1 (PRM-RD)
IB 0B0 (BUSY)
IB 0B3 (FAIL)
IB 0B8 (COMPLETE)
IW 37
IL 3A
The PRM_WR command writes the setting of the SERVOPACK parameter using the specified
parameter number, parameter size, and setting data. The write destination is in the SERVOPACK's
RAM.
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
Motion subcommand execution has been completed.
The OW 54，OW 55，and OL
been completed.
Refer to [ a ] Setting Parameters below for details.
2.
Set OW 0A to 2 to execute the PRM_WR motion subcommand.
The PRM_WR command will write the SERVOPACK parameter.
IW 0A will be 2 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
writing operation.
Undefined length
of time
Undefined Parameter number
Undefined Parameter data
Undefined length
of time
Undefined
Undefined
57 settings have
1 scan
Confirmation Method
IW 0A is 0 and IB 0B0 is OFF.
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