YASKAWA SVC - Page 222

4.2 Motion Command Details
4.2.17 PRM_WR (Write SERVOPACK Parameter)
4
Motion Control Program Commands and Instructions
4-79
 Monitor Parameters
Timing Charts
 Normal Completion
 Error Completion
OW09
Bit 8
SERVOPACK Parame-
ter Access Selection
Use this bit to select the parameter to write.
0: Vendor-specific parameters
1: Common parameters
OW
50
SERVOPACK Parame-
ter Number
Set the number of the SERVOPACK parameter to write.
OW
51
SERVOPACK Parame-
ter Size
Set the size of the SERVOPACK parameter to write.
Set the size in words.
Example: For 4 bytes, set this parameter to 2.
OL
52
SERVOPACK Parame-
ter Set Value
Set the set value data to write to the target SERVOPACK parameter.
Register
Address
Name Monitored Contents
IL
02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 18 during execution of the PRM_WR command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the PRM_WR command.
The bit changes to 0 (Completed) when execution ends.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the PRM_WR
command.
IW09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the PRM_WR command.
The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW
09
Bit 8
Command Execu-
tion Completed
This bit changes to 1 (Normal execution completed) when execution of
the PRM_WR command ends.
Continued from previous page.
Register
Address
Name Setting Details
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.