YASKAWA MP2200

5
Motion Commands
5.2.16
Read SERVOPACK Parameter (PRM_RD)
5-88
5.2.16 Read SERVOPACK Parameter (PRM_RD)
The PRM_RD command reads the setting of the SERVOPACK parameter with the specified
parameter number and parameter size and stores the parameter number in Servo Constant Number
(monitoring parameter IW

36) and the setting in Servo User Constant (monitoring parameter
IL

38).
( 1 ) Operating Procedure
( 2 ) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
( 3 ) Related Parameters
[ a ] Setting 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 IB

090 is OFF.
Execute the
PRM_RD
motion command.
• Set OW

08 to 17.
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
The SERVOPACK parameter is read and
written to the monitoring parameters.
• IW

08 will be 17 during command
execution.
• IB

090 will be ON during command
execution.
Reading completed.
• IW

08 will be 17 and IB

090 will be
OFF.
Execute NOP motion command.
• Set OW

08 to 0.
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.
Set the size as the number of words. Example: For 4 bytes, set “2.”
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