YASKAWA SVC - PRM_RD (Read SERVOPACK Parameter)

4.2 Motion Command Details
4.2.16 PRM_RD (Read SERVOPACK Parameter)
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4.2.16 PRM_RD (Read SERVOPACK Parameter)
The PRM_RD command reads the set value of the SERVOPACK parameter that corresponds
to the specified parameter number and parameter size. The read value is then stored in the
IW36 (SERVOPACK Parameter Number) and IL38 (SERVOPACK Parameter Read
Data) monitor parameters.
Two types of SERVOPACK parameters can be read with this command: vendor-specific
parameters, which are vendor-specific specifications for the particular Servo product used, and
Servo common parameters, which are defined in the MECHATROLINK-III communications
specifications. Set bit 8 (SERVOPACK Parameter Access Selection) in the OW09 setting
parameter to select which type of SERVOPACK parameter to read.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the following setting parameters.
• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW50 (SERVOPACK Parameter Number)
• OW51 (SERVOPACK Parameter Size)
3. Set the OW08 setting parameter (Motion Commands) to 17 to execute the
PRM_RD motion command.
The set value of the target parameter is stored in the IW36 and IL38 monitor parameters.
The IW08 monitor parameter (Motion Command Response Code) is 17 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
4. Set OW08 to 0 to execute the NOP motion command.
This concludes the process for reading SERVOPACK parameters.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
]
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
Register
Address
Name Setting Details
OW
08 Motion Commands
Set this parameter to 17 (PRM_RD) to read a SERVOPACK parame-
ter.
OW
09
Bit 0
Hold Command This bit is ignored for the PRM_RD command.
OW
09
Bit 1
Cancel Command This bit is ignored for the PRM_RD command.
Continued on next page.