Write Parameter (Prm_Wr: 02H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.3 Write Parameter (PRM_WR: 02H)

4.3.3
Byte
Command
1 02H
2
3
4
5 NO
6
7 SIZE
8 PARAMETER
9
10
11
12
13
14
15
16 WDT

Write Parameter (PRM_WR: 02H)

PRM_WR
Response
02H Processing
classifications
ALARM Processing time
STATUS
• Temporarily writes parameters and does not store them in E
NO
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following cases.
SIZE
PARAMETER
• If communications are in progress with a Digital Operator, a command execu-
• For details on NO, SIZE, and PARAMETER, refer to Appendix B List of
RWDT
• Processing time
Data communica-
tions command
group
Refer to the fol-
lowing description
Offline parameters are enabled with the Set Up Device command (CONFIG)
after setting.
- During phases other than phases 2 and 3:
MECHATROLINK-II command warning (A.95)
- If a digital operator is connected: MECHATROLINK-II command warning
(A.95)
- If SigmaWin and so on are connected: MECHATROLINK-II command
warning (A.95)
- If NO is not within range: Parameter setting warning (A.94)
- If SIZE does not match: Parameter setting warning (A.94)
- If PARAMETER is not within range or would result in a calculation over-
flow: Parameter setting warning (A.94)
tion incomplete alarm (A.ED) may occur.
Parameters.
- 1 ms when writing NS115 parameter
- 4 to 6 ms when writing SGDH SERVOPACK parameter
4-10
Description
Synchronization
classifications
Subcommand
2
Asynchronous
Cannot be used.
PROM memory.