Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 231)

6.2 Motion Command Details
6.2.17 Write User Constant (PRM_WR)
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6.2.17 Write User Constant (PRM_WR)
The PRM_WR command writes the setting value the relevant SERVOPACK parameter using the specified SERVO-
PACK parameter number, parameter size, and setting data.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 18 to execute the PRM_WR motion command.
The SERVOPACK parameter will be written.
IW
08 will be 18 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 writing 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
[ b ] Monitoring 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 written when this parameter is set to 18.
OW 09
Bit 0
Holds a Command This parameter is ignored for PRM_WR command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for PRM_WR command.
OW 50
Servo Driver User
Constant No.
Set the number of the SERVOPACK parameter to be written.
OW 51
Servo Driver 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.”
OL 52
Servo Driver User
Constant Set Point
Set the data to be set to the SERVOPACK parameter to be written.
Parameter Name Monitor Contents
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code will be 18 during PRM_WR command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during PRM_WR command execution and turns OFF when execution has
been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for PRM_WR command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during PRM_WR command execution.
Turns OFF when another command is executed.
IW 09
Bit 8
Command Execution
Completed
Turns ON when PRM_WR command execution has been completed.