APP - 122
APPENDICES
c) "Servo parameter write/read" device
Store the value in the following special registers to change or display
the servo parameter.
No. Name Meaning Details Set by
SD552
Servo parameter
write/read request
Servo parameter
read value
• The read value of servo parameter which executed
"2: Read request" in "servo parameter write/read
request (SD804)" is stored.
System
(At read
request)
SD804
(Note-1)
Servo parameter
write/read request
flag
• The "write/read request" is executed after setting of
the axis No. and servo parameter No.
1: Write request
2: Read request
• "0" is automatically set by Motion CPU after
completion of servo parameter write/read request.
("-1" is stored by Motion CPU at write/read error.)
User/
System
SD805 Axis No.
• The axis No. to write/read servo parameter is stored.
Q173DSCPU: 1 to 32
Q172DSCPU: 1 to 16
User
SD806
Servo parameter
No.
• The servo parameter No. to be written/read is stored
in hexadecimal.
Parameter ID
(Note)
H
(Note): Refer to the AlphaStep/5-phase
instruction manual for details.
SD807
Servo parameter
setting value
• The setting value of servo parameter to be written is
stored when "1: Write request" is set in "servo
parameter write/read request (SD804)".
(Note-1): Do not execute the automatic refresh.
(g) Optional data monitor setting
The following table shows data types that can be set.
Set the data so that the total number of communication points per axis is no
more than 6 points.
Data type Unit Number of words
Number of
communication
data points
Position F/B [pulse] 2 0
Encoder position within 1 revolution [pulse] 2 0
Encoder Multi-revolution counter [rev] 1 0
Cumulative current value
[Position
command]
(Note-1)
2 0
External encoder counter value [pulse] 2 2
(Note-1): The position command is the command unit set in the fixed parameter.
(h) Gain changing command, PI-PID switching command, control loop changing
command
Gain changing command, PI-PID switching command, and control loop
changing command becomes invalid.
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