YASKAWA MP2000 Series User Manual

6.4 Motion Subcommand Details
6.4.3 Write User Constant (PRM_WR)
6-105
Motion Commands
6.4.3 Write User Constant (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 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 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.
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 writing 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
The OW
 54, OW  55, and OL  56 settings have
been completed.
 Refer to 6.4.3 ( 1 ) [ a ] Setting Parameters below for
details.
−
Parameter Name Setting Contents
OW0A Motion Subcommand
The SERVOPACK parameter is written when this parameter is set to 2.
OW54
Servo Driver for Assis-
tance User Constant
No.
Set the number of the SERVOPACK parameter to be written.
OW55
Servo Driver for Assis-
tance User Constant
Size
Set the size of the SERVOPACK parameter to be written.
Set the size in words.
 The SERVOPACK’s user manual lists the size in bytes, so those values
must be converted to words.
OL56
Servo Driver for Assis-
tance User Constant
Set Point
Set the set value for the SERVOPACK parameter to be written.
Parameter Name Monitoring Contents
IW0A
Motion Subcommand
Response Code
Indicates the motion subcommand that is being executed.
The response code is 2 during PRM_WR command execution.
IW0B
Bit 0
Command Execution
Flag
Turns ON during PRM_WR 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_WR command execution.
Turns OFF when another command is executed.
IW0B
Bit 8
Command Execution
Completed
Turns ON when PRM_WR command execution has been completed.
IW37
Supplementary Servo
Driver User Constant
No.
Stores the parameter number of the SERVOPACK parameter that was written.

YASKAWA MP2000 Series Specifications

General

Control Method	Digital Control
Communication Protocols	PROFIBUS-DP, MECHATROLINK-II
Programming Language	Structured Text
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C

Summary

Overview

SVB Module Overview and Features

Provides an overview and features of the SVB Module, including its capabilities and architecture.

Specifications

Details the hardware and general specifications of the SVB-01 Module.

Settings and Installation

LED Indicators and Switch Settings

Explains LED indicators, status indications, and switch settings for the SVB-01 Module.

Mounting/Removing SVB-01 Modules

Self-configuration and Created Definition Files

Self-configuration Overview

Explains the self-configuration function and how it reduces system startup time.

How to Execute Self-configuration

Describes two methods for executing self-configuration: using DIP switch and using MPE720.

System Startup Using Self-Configuration

Details system startup procedures for first-time setup, adding devices, and replacing devices.

Self-configuration and Definition Files

Motion Parameters

Motion Parameters Register Numbers

Motion Parameters Setting Window

Motion Parameter Lists

Motion Parameter Setting Examples

Example Setting of Motion Parameters for the Machine

Position Reference

Speed Reference

Acceleration/Deceleration Settings

Motion Commands

Motion Command Table

Motion Commands Supported by SERVOPACK Models

Motion Command Details

Provides detailed descriptions of individual motion commands, including their execution procedures and parameters.

Absolute Position Detection

Absolute Position Detection Function

Explains the function of absolute position detection and its features.

Setting Procedure of Absolute Position Detection Function

Details the system startup flowchart and initialization procedures for absolute encoders.

Absolute Position Detection for Finite Length Axes

Describes parameter settings and precautions for finite length axes using absolute position detection.

Absolute Position Detection for Infinite Length Axes

Explains position control methods for infinite length axes using absolute position detection.

Settings for Connecting Inverters

Specifications for Communications with Connected Inverters

Operating Inverters Using an MPE720

Guides on checking items before operation, operation precautions, and procedures for using inverters with MPE720.

Main Commands and Subcommands

Inverter Alarm and Warning Codes

Classifies and lists inverter errors, alarms, and warnings.

Utility Functions

Controlling Vertical Axes

Overtravel Function

Details connections and parameter settings for stopping the machine when the moving part exceeds movement range.

Software Limit Function

Explains setting upper and lower limits for machine movement to prevent runaway or damage.

Troubleshooting

Troubleshooting System Errors

Provides information for troubleshooting system errors, including register allocations and error status.

Motion Program Alarms

Details motion program alarms, their configuration, and alarm codes.

List of Causes for Command Error Occurrence

Lists causes of command error occurrences for each motion command.

Troubleshooting Motion Errors

Explains details and corrective actions for errors occurring in motion control functions.