YASKAWA SVC - MEM_WR (Write Memory)

4.2 Motion Command Details
4.2.29 MEM_WR (Write Memory)
4
Motion Control Program Commands and Instructions
4-115
4.2.29 MEM_WR (Write Memory)
The MEM_WR command writes the specified setting data to SERVOPACK memory at the
specified memory address and size.
Whether data can be written to memory depends on the product specifications of the SERVO-
PACK. Refer to the relevant SERVOPACK manual for details.
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51 (SERVOPACK Parameter Size)
• OL52 (SERVOPACK Parameter Set Value)
• OL58 (Address Setting)
3. Set the OW08 setting parameter (Motion Commands) to 36 to execute the
MEM_WR motion command.
4. Set OW08 to 0 to execute the NOP motion command.
This concludes the write memory operation.
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 Must be ready for motion operation. Bit 0 in IW00 must be 1.
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.
Make any necessary change to OW51, OL52, and OL58 before the
MEM_WR command is executed, or during the same scan that OW08 is set to 36.
Do not make these changes during execution of the MEM_WR command.
Register
Address
Name Setting Details
OW
08 Motion Commands Set this parameter to 36 (MEM_WR) to write to memory.
OW09
Bit 0
Hold Command This bit is ignored for the MEM_WR command.
OW
09
Bit 1
Cancel Command This bit is ignored for the MEM_WR command.
OW
51
SERVOPACK Parame-
ter Size
Set the size of the data to write to the specified address in words.
The valid settings for this parameter are 1 and 2.
OL
52
SERVOPACK Parame-
ter Set Value
Set the data to write to the specified address.
OL
58 Address Setting
Set the first address to write in the SERVOPACK memory.
The valid address range depends on the product specifications of
the SERVOPACK. Refer to the relevant SERVOPACK manual for
details.
Information