YASKAWA SVC - Page 249

4.2 Motion Command Details
4.2.26 PPRM_WR (Write Non-volatile Parameter)
4-106
 Setting Parameters
 Monitor Parameters
Timing Charts
 Normal Completion
 Error Completion
Register
Address
Name Setting Details
OW
08 Motion Commands Set this parameter to 27 (PPRM_WR) to write a non-volatile parameter.
OW09
Bit 0
Hold Command This bit is ignored for the PPRM_WR command.
OW
09
Bit 1
Cancel Command This bit is ignored for the PPRM_WR command.
OW
09
Bit 8
SERVOPACK
Parameter Access
Selection
Use this bit to select the parameter to write.
0: Vendor-specific parameters
1: Common parameters
OW
50
SERVOPACK
Parameter Number
Set the number of the SERVOPACK parameter to write.
OW
51
SERVOPACK
Parameter 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
Parameter 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 27 during execution of the PPRM_WR command.
IW09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the PPRM_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 PPRM_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 PPRM_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 PPRM_WR command ends.
OW08 = 27 (PPRM_WR)
IW08 = 27 (PPRM_WR)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.
OW08 = 27 (PPRM_WR)
IW08 = 27 (PPRM_WR)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.