Writing A Parameter - Fuji Electric ALPHA7 User Manual

3.3.8

Writing a Parameter

To read or write parameters, change the SEL2, SEL1 and SEL0 bits to those specified in the table below.
Reading or writing is made at the activating edge of the read command or write command bit.
Designate the parameter number in low order bits of word +14.
SEL2 SEL1 SEL0
OFF OFF OFF
OFF OFF ON
ON OFF OFF
ON OFF ON
ON ON OFF
ON ON ON
Address
15 14 13
0
1
2
3
Feedback speed (1 word)/parameter current value/monitor area 1 (PC ← servo amplifier)
4
Torque (1 word)/parameter current value/monitor area 2 (PC ← servo amplifier)
5
6
7
Alarm
8 RDY INP
detection
Toggle Toggle CONT 1
9
answer 0 answer 1 Through
10
11
Speed command (1 word)/write parameter reference value/workpiece inertia ratio (PC ← servo amplifier)
12
Torque command (1 word)/write parameter reference value/antiresonant frequency (PC ← servo amplifier)
13
S-ON FWD REV
14
Position
Toggle Toggle
15
command
monitor 0 monitor 1
operation
When SEL2, SEL1 and SEL0 are updated, CSEL2, CSEL1 and CSEL0 are updated to the same
pattern, indicating that the IQ area is changed.
+ 4 + 5
Monitor Monitor
selection selection
Monitor Monitor
selection selection
Read parameter PA1
Read parameter PA2
Read parameter PA3
Read parameter PA4
12 11 10 9
Command position (PC ← servo amplifier)
Feedback position (PC ← servo amplifier)
Position data sampling timing (PC ← servo amplifier)
Pulse input cumulative value (PC ← servo amplifier)
Torque
Zero Zero Homing
limit Data error
deviation speed completion
detection
CONT 2 CONT 3 CONT 4 CONT 5
command
Through Through Through Through
pulse zero
Position command (PC → servo amplifier)
Position Position
ORG RST
preset control
Interrupt
Z-phase Interrupt
position Deviation
EMG
detection input
detection
command enable
command
CHAPTER 3 OPERATION
IQ area
+ 12
Speed
command
Workpiece
inertia ratio
Write parameter PA1
Write parameter PA2
Write parameter PA3
Write parameter PA4
bit
8 7 6 5
Forced Z-phase
Toggle
ALM4 ALM3 ALM2 ALM1 ALM0
stop signal
error
detection detection
internal Position Interrupt
CSEL
Deviation
preset position
over
response detection
Torque
Parameter no. reference value
control
CONT CONT
Free-run
clear 6 7
Operation with VS Type
+ 13
Torque
command
Anti resonance
frequency
4 3 2 1
CSEL CSEL
Over write Read
2 1 0 completion completion
SEL SEL SEL
Write Read
2 1 0 command command
3-17
3
0