YASKAWA MP2100 Series - Page 273

8 Motion Commands
8-64
(3) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
(4) Timing Charts
(a) Normal End
(b) Error End
Parameter Name Setting
OW

08 Motion Command The SERVOPACK parameter is read when this parameter is set to 17.
OB

090 Command Pause This parameter is ignored for PRM_RD command.
OB

091 Command Abort This parameter is ignored for PRM_RD command.
OW

50 Servo Constant
Number
Set the number of the SERVOPACK parameter to be read.
OW

51 Servo Constant
Number Size
Set the size of the SERVOPACK parameter to be read.
Parameter Name Monitor Contents
IL

02 Warning Stores the most current warning.
IL

04 Alarm Stores the most current alarm.
IW

08 Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 17 during PRM_RD command execution.
IB

090 Command Executing Turns ON during PRM_RD command execution and turns OFF when execution
has been completed.
IB

091 Hold Completed Always OFF for PRM_RD command.
IB

093 Command Error End Turns ON if an error occurs during PRM_RD command execution. Turns OFF
when another command is executed.
IB

098 Command
Completed
Turns ON when PRM_RD command execution has been completed.
IW

36 Servo Constant
Number
Stores the number of the SERVOPACK parameter that was read.
IL

38 Servo User Constant Stores the data of the SERVOPACK parameter that was read.
OW08 = 17 (PRM-RD)
IW08 = 17 (PRM-RD)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time
OW08 = 17 (PRM-RD)
IW08 = 17 (PRM-RD)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time