YASKAWA SVC - PRM_RD (Read SERVOPACK Parameter)

4.3 Motion Subcommand Details
4.3.2 PRM_RD (Read SERVOPACK Parameter)
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Motion Control Program Commands and Instructions
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4.3.2 PRM_RD (Read SERVOPACK Parameter)
The PRM_RD subcommand reads the set value from the SERVOPACK RAM of the SERVO-
PACK parameter that corresponds to the specified parameter number and parameter size. The
read value is then stored in the IW37 (Auxiliary SERVOPACK Parameter Number) and
IL3A (Auxiliary 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 the following condition is met.
* This subcommand cannot be executed until the execution of other motion subcommands is completed.
2. Set the following setting parameters.
• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW54 (Auxiliary SERVOPACK Parameter Number)
• OW55 (Auxiliary SERVOPACK Parameter Size)
3. Set the OW0A setting parameter (Motion Subcommands) to 1 to execute the
PRM_RD motion subcommand.
The PRM_RD command reads the SERVOPACK parameter and stores the contents in the monitor
parameters.
The IW0A monitor parameter (Motion Subcommand Response Code) is 1 during execution of
this command.
During command processing, bit 0 (Command Execution Flag) in the IW0B monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
4. Set OW0A to 0 to execute the NOP motion subcommand.
This concludes the process for reading SERVOPACK parameters.
Related Parameters
The parameters that are related to this subcommand are listed in the following table.
 Setting Parameters
No. Execution Condition Confirmation Method
1
Execution of motion subcommands must be
completed.*
IW0A must be 0 and bit 0 in
IW0B must be 0.
Register
Address
Name Setting Details
OW
09
Bit 8
SERVOPACK Parame-
ter Access Selection
Use this bit to select the parameter to read.
0: Vendor-specific parameters
1: Common parameters
OW
0A Motion Subcommands Set this parameter to 1 (PRM_RD) to read a SERVOPACK parameter.
OW
54
Auxiliary SERVOPACK
Parameter Number
Set the number of the SERVOPACK parameter to read.
OW
55
Auxiliary SERVOPACK
Parameter Size
Set the size of the SERVOPACK parameter to read.
Set the size in words.
Setting Precautions
The SERVOPACK user manual lists the sizes in bytes, so those val-
ues must be converted to words.