Yaskawa MP2200 Machine Controller - Manual (Page 318)

5 Motion Commands
5.2.16 Read SERVOPACK Parameter (PRM_RD)
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5.2.16 Read SERVOPACK Parameter (PRM_RD)
The PRM_RD command reads the setting of the SERVOPACK parameter with the specified
parameter number and parameter size and stores the parameter number in Servo Constant Number
(monitoring parameter IW††36) and the setting in Servo User Constant (monitoring parameter
IL††38).
( 1 ) Operating Procedure
( 2 ) Holding and Aborting
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Execute the PRM_RD motion command.
• Set OW††08 to 17.
• The Command Pause (OB††090) cannot be used.
• The Command Abort (OB††091) cannot be used.
The SERVOPACK parameter is read and
written to the monitoring parameters.
• IW††08 will be 17 during command
execution.
• IB††090 will be ON during command
execution.
Reading completed.
• IW††08 will be 17 and IB††090 will be
OFF.
Execute NOP motion command.
• Set OW††08 to 0.
Parameter Name Setting
OW††08 Motion Command The SERVOPACK parameter is read when this parameter is set to 17.
OB††090 Command Pause This parameter is ignored for PRM_RD command.
OB††091 Command Abort This parameter is ignored for PRM_RD command.
OW††50
Servo Constant
Number
Set the number of the SERVOPACK parameter to be read.
OW††51
Servo Constant
Number Size Set the size of the SERVOPACK parameter to be read.
Set the size as the number of words. Example: For 4 bytes, set “2.”