YASKAWA JEPMC-MP2300-Y Series

7
Motion Commands
7.4.2
Read SERVOPACK Parameter (PRM_RD)
7-98
( 3 ) Timing Charts
[ a ] Normal End
[ b ] Error End
( 4 ) Write SERVOPACK Parameter (PRM_WR)
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 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
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.
OW0A = 1 (PRM-RD)
IW0A = 1 (PRM-RD)
IB0B0 (BUSY)
Parameter number
IB0B8 (COMPLETE)
IB0B3 (FAIL)
Parameter data
Undefined
IW37
Undefined
IL3A
1 scan
Undefined length
of time
OW0A = 1 (PRM-RD)
IW0A = 1 (PRM-RD)
IB0B0 (BUSY)
IB0B8 (COMPLETE)
IB0B3 (FAIL)
Undefined
IW37
Undefined
IL3A
Undefined length
of time
No. Execution Conditions Confirmation Method
1 Motion subcommand execution has been completed.
IW

0A is 0 and IB

0B0 is OFF.
2
The OW

54
，
OW

55
，
and OL

57 settings have
been completed.

Refer to [ a ] Setting Parameters below for details.
−