YASKAWA JEPMC-MP2300-Y Series User Manual

7.4
Motion Subcommand Details
7-97
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

37) and the setting in the Auxiliary Servo User Con-
stant (monitoring parameter IL

3A)

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 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
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.
( 2 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 Motion subcommand execution has been completed.
IW

0A is 0 and IB

0B0 is OFF.
Parameter Name Setting Contents
OW

0A
Motion Subcommand
The SERVOPACK parameter is read when this parameter is set to 1.
OW

54
Auxiliary Servo User
Constant Number
Set the parameter number of the SERVOPACK parameter to be read.
OW

55
Auxiliary Servo Constant
Number Size
Set the size of the SERVOPACK parameter to be read.
Set the size in words.

The SERVOPACK’s user manual lists the size in bytes, so those values
must be converted to words.
Parameter Name Monitoring Contents
IW

0A
Motion Subcommand
Response Code
Indicates the motion subcommand that is being executed.
The response code is 1 during PRM_RD command execution.
IB

0B0
Command Executing
Turns ON during PRM_RD command execution and turns OFF when execution has
been completed.
IB

0B3
Command Error End
Turns ON if an error occurs during PRM_RD command execution. Turns OFF
when another command is executed.
IB

0B8
Command Execution
Completed
Turns ON when PRM_RD command execution has been completed.
IW

37
Auxiliary Servo User
Constant Number
Stores the parameter number of the SERVOPACK parameter being read.
IL

3A
Auxiliary Servo User
Constant
Stores the SERVOPACK parameter data that was read.

YASKAWA JEPMC-MP2300-Y Series Specifications

General

Brand	YASKAWA
Model	JEPMC-MP2300-Y Series
Category	Controller
Language	English