13.4 Programmed Operation
13.4.5 Creating and Changing Command Blocks
13
DeviceNet Communications
13-29
The following table shows an example of when this command is stored in command block 1 by
using the Set_Attribute_All service.
• Command (Master Device to SERVOPACK)
• Response (SERVOPACK to Master Device)
Note: If the Set_Attribute_Single service is used, you must write the data in the following order: the Target Speed
Change command, the next command block number, and then the target speed.
0x10 Set_Attribute_Single
Changes the value of
the specified attribute.
Use this service to change only one attribute in
a command block.
If you change the command assembly code of
the command block in attribute 1, all data from
attribute 2 to attribute 7 will be initialized.
If you change the command block with this ser-
vice, change the attributes in sequence starting
with the attribute with the smallest number.
The following example is for when the Target Speed Change command is sent. The following Target
Speed Change command is used.
7 6 5 4 3 2 1 0
00 0
00x02
0x27 (object number)
0x01 (instance ID)
0x09
0x02
0x40
0x1F
0x00
0x00
7 6 5 4 3 2 1 0
00 0
10x02
0x09
0x02
0x40
0x1F
0x00
0x00
If you change a command block under the following conditions, an error will occur.
• The current block is still being executed.
• An alarm has occurred in the SERVOPACK.
Continued from previous page.
Service
Code
Name Meaning Remarks
0x09 Target Speed Change command
0x02
Number of the next command block to
execute
0x40
Target speed = 8,000 reference units/s
0x1F
0x00
0x00
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