YASKAWA MP2200 User Manual

5
Motion Commands
5.3.4
Read SERVOPACK Parameter (PRM_RD)
5-118
5.3.4 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 Auxiliary Servo User
Constant Number (monitoring parameter IW

37) and the setting in the Auxiliary Servo User
Constant (monitoring parameter IL

3A).
The source read data is in the SERVOPACK's RAM.
This command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II (32 byte).
( 1 ) Operating Procedure
( 2 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 Motion subcommand execution must be completed.
IW

0A is 0 and IB

0B0 is OFF.
Execute PRM_RD motion command.
• Set OW

0A to 1.
The SERVOPACK parameter is read and stored
in the monitoring parameters.
• IW

0A will be 1 during command
execution.
• IB

0B0 will be ON during command
processing.
Reading completed.
• IW

0A is 1 and IB

0B0 is OFF.
Execute NOP motion command.
• Set OW

0A to 0.
Parameter Name Setting Contents
OW

0A
Motion Subcommand
The SERVOPACK parameter is read when this parameter is set to 1.
OW

54
Auxiliary Servo User
Constant Number
Set the parameter number of the SERVOPACK parameter to be read.
OW

55
Auxiliary Servo
Constant Number Size
Set the size of the SERVOPACK parameter to be read.
Set the size in words.
（Note） The SERVOPACK's user manual lists the size in bytes,
so those values must be converted to words.
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YASKAWA MP2200 Specifications

General

Brand	YASKAWA
Model	MP2200
Category	Controller
Language	English