YASKAWA MP2200 - Page 321

5.2
Motion Command Details
5-91
( 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 written when this parameter is set to 18.
OB

090
Command Pause
This parameter is ignored for PRM_WR command.
OB

091
Command Abort
This parameter is ignored for PRM_WR command.
OW

50
Servo Constant
Number
Set the number of the SERVOPACK parameter to be written.
OW

51
Servo 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 User Constant
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
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 18 during PRM_WR command execution.
IB

090
Command Executing
Turns ON during PRM_WR command execution and turns OFF when execution has
been completed.
IB

091
Command Hold
Completed
Always OFF for PRM_WR command.
IB

093
Command Error End
Turns ON if an error occurs during PRM_WR command execution. Turns OFF when
another command is executed.
IB

098
Command Execution
Completed
Turns ON when PRM_WR command execution has been completed.
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined length
of time
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined length
of time
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