YASKAWA MP Series User Manual

6.4 Motion Subcommand Details
6.4.2 Read User Constant (PRM_RD)
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Motion Commands
6.4.2 Read User Constant (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 Supplementary Servo Driver User Constant No. (mon-
itoring parameter IW37) and the setting in the Supplementary Servo Driver User Constant Reading Data (monitor-
ing parameter IL3A)
 This command will end with a Command Error Completed Status 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.
IW0B bit 0 will turn ON during the command processing and will turn OFF when the command 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 IW0B, bit 0 is OFF.
2 No alarms have occurred. IL02 is 0 and IL04 = 0
Parameter Name Setting Contents
OW0A Motion Subcommand
The SERVOPACK parameter is read when this parameter is set to 1.
OW54
Servo Driver for Assis-
tance User Constant No.
Set the parameter number of the SERVOPACK parameter to be read.
OW55
Servo Driver for Assis-
tance User Constant 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.
IW0B
Bit 0
Command Execution Flag
Turns ON during PRM_RD command execution and turns OFF when execution has
been completed.
IW0B
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during PRM_RD command execution. Turns OFF
when another command is executed.
IW0B
Bit 8
Command Execution
Completed
Turns ON when PRM_RD command execution has been completed.
IW37
Supplementary Servo
Driver User Constant No.
Stores the parameter number of the SERVOPACK parameter being read.
IL3A
Supplementary Servo
Driver User Constant
Reading Data
Stores the SERVOPACK parameter data that was read.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English