Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 229)

6.2 Motion Command Details
6.2.16 Read User Constant (PRM_RD)
6-68
6.2.16 Read User Constant (PRM_RD)
The PRM_RD command reads the setting of the SERVOPACK parameter with the specified parameter number and
parameter size. It stores the parameter number in Servo Driver User Constants No. (monitoring parameter IW
36)
and the setting in Servo Driver User Constant Reading Data (monitoring parameter IL 38).
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 17 to execute the PRM_RD motion command.
The PRM_RD command will store the specified parameter number in the Servo Driver User Constants No.
(monitoring parameter IW
36) and the parameter setting in Servo Driver User Constant Reading Data (moni-
toring parameter IL 38).
IW 08 will be 17 during command execution.
IW 09, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3.
Set OW 08 to 0 to execute the NOP motion command and then complete the reading operation.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) 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 IW 09, bit 0 is OFF.
Parameter Name Setting
OW 08 Motion Command The SERVOPACK parameter is read when this parameter is set to 17.
OW 09
Bit 0
Hold a Command This parameter is ignored for PRM_RD command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for PRM_RD command.
OW 50
Servo Driver User Con-
stant No.
Set the number of the SERVOPACK parameter to be read.
OW 51
Servo Driver User
Constant 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.”