YASKAWA SVC - PRM_WR (Write SERVOPACK Parameter)

4.3 Motion Subcommand Details
4.3.3 PRM_WR (Write SERVOPACK Parameter)
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Motion Control Program Commands and Instructions
4-127
4.3.3 PRM_WR (Write SERVOPACK Parameter)
The PRM_WR subcommand overwrites the setting of a SERVOPACK parameter using the
specified parameter number, parameter size, and set value data. The data is written to the
SERVOPACK RAM.
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.
* 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)
• OL56 (Auxiliary SERVOPACK Parameter Set Value)
3. Set the OW0A setting parameter (Motion Subcommands) to 2 to execute the
PRM_WR motion subcommand.
The SERVOPACK parameter is overwritten.
The IW0A monitor parameter (Motion Subcommand Response Code) is 2 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 writing 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.
2
OW54, OW55, and OL56 must
all be set.
Refer to the list of setting parameters
below.
Register
Address
Name Setting Details
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
0A Motion Subcommands
Set this parameter to 2 (PRM_WR) to write a SERVOPACK parame-
ter.
OW
54
Auxiliary SERVOPACK
Parameter Number
Set the number of the SERVOPACK parameter to write.
OW
55
Auxiliary SERVOPACK
Parameter Size
Set the size of the SERVOPACK parameter to write.
Set the size in words.
Setting Precautions
The SERVOPACK user manual lists the parameter sizes in bytes, so
those values must be converted to words.
OL
56
Auxiliary SERVOPACK
Parameter Set Value
Set the set value data to write to the target SERVOPACK parameter.