3 ) related parameters, 4 ) timing charts – Yaskawa MP2200 Machine Controller User Manual
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5.2 Motion Command Details
5-91
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
( 4 ) Timing Charts
[ a ] Normal End
[ b ] Error End
Parameter
Name
Setting
OW08
Motion Command
The SERVOPACK parameter is written when this parameter is set to 18.
OB090
Command Pause
This parameter is ignored for PRM_WR command.
OB091
Command Abort
This parameter is ignored for PRM_WR command.
OW50
Servo Constant
Number
Set the number of the SERVOPACK parameter to be written.
OW51
Servo User Constant
Size
Set the size of the SERVOPACK parameter to be written.
Set the size as the number of words. Example: For 4 bytes, set “2.”
OL52
Servo User Constant
Set the data to be set to the SERVOPACK parameter to be written.
Parameter
Name
Monitor Contents
IL02
Warning
Stores the most current warning.
IL04
Alarm
Stores the most current alarm.
IW08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 18 during PRM_WR command execution.
IB090
Command Executing
Turns ON during PRM_WR command execution and turns OFF when execution has
been completed.
IB091
Command Hold
Completed
Always OFF for PRM_WR command.
IB093
Command Error End
Turns ON if an error occurs during PRM_WR command execution. Turns OFF when
another command is executed.
IB098
Command Execution
Completed
Turns ON when PRM_WR command execution has been completed.
OW
08 = 18 (PRM_WR)
IW
08 = 18 (PRM_WR)
IB
090 (BUSY)
IB
098 (COMPLETE)
IB
093 (FAIL)
Undefined length
of time
OW
08 = 18 (PRM_WR)
IW
08 = 18 (PRM_WR)
IB
090 (BUSY)
IB
098 (COMPLETE)
IB
093 (FAIL)
Undefined length
of time