YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.17 Write User Constant (PRM_WR)
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6.2.17 Write User Constant (PRM_WR)
The PRM_WR command writes the setting value the relevant SERVOPACK parameter using the specified SERVO-
PACK parameter number, parameter size, and setting data.
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2. Set OW08 to 18 to execute the PRM_WR motion command.
The SERVOPACK parameter will be written.
IW08 will be 18 during command execution.
IW09, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3. Set OW08 to 0 to execute the NOP motion command and then complete the writing operation.
( 2 ) Holding and Aborting
The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL02 and IL04 are 0.
2 Motion command execution has been completed. IW08 is 0 and IW09, bit 0 is OFF.
Parameter Name Setting
OW08 Motion Command
The SERVOPACK parameter is written when this parameter is set to 18.
OW09
Bit 0
Holds a Command
This parameter is ignored for PRM_WR command.
OW09
Bit 1
Interrupt a Command
This parameter is ignored for PRM_WR command.
OW50
Servo Driver User
Constant No.
Set the number of the SERVOPACK parameter to be written.
OW51
Servo Driver User
Constant Size
Set the size of the SERVOPACK parameter to be written.
Set the size as the number of words.
Example: For 4 bytes, set “2.”
OL52
Servo Driver User
Constant Set Point
Set the data to be set to the SERVOPACK parameter to be written.
Parameter Name Monitor Contents
IL02 Warning
Stores the most current warning.
IL04 Alarm
Stores the most current alarm.
IW08
Motion Command
Response Code
Indicates the motion command that is being executed.
The response code will be 18 during PRM_WR command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON during PRM_WR command execution and turns OFF when execution has
been completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for PRM_WR command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during PRM_WR command execution.
Turns OFF when another command is executed.
IW09
Bit 8
Command Execution
Completed
Turns ON when PRM_WR command execution has been completed.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English