YASKAWA SVC - PRM_WR (Write SERVOPACK Parameter)

4.2 Motion Command Details
4.2.17 PRM_WR (Write SERVOPACK Parameter)
4-78
4.2.17 PRM_WR (Write SERVOPACK Parameter)
The PRM_WR command overwrites the setting of a SERVOPACK parameter using the speci-
fied parameter number, parameter size, and set value data.
Two types of SERVOPACK parameters can be written 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 write.
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)
• OL52 (SERVOPACK Parameter Set Value)
3. Set the OW08 setting parameter (Motion Commands) to 18 to execute the
PRM_WR motion command.
The SERVOPACK parameter is overwritten.
The IW08 monitor parameter (Motion Command Response Code) is 18 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 writing 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 18 (PRM_WR) to write a SERVOPACK parame-
ter.
OW
09
Bit 0
Hold Command This bit is ignored for the PRM_WR command.
OW
09
Bit 1
Cancel Command This bit is ignored for the PRM_WR command.
Continued on next page.