Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 256)

6.2 Motion Command Details
6.2.26 Stored Parameter Write (PPRM_WR)
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Motion Commands
6.2.26 Stored Parameter Write (PPRM_WR)
Specify the parameters of the SERVOPACK, size of parameters, and the setting values, then execute this command.
The PPRM_WR command writes the specified data in the specified SERVOPACK parameter number of the specified
size in the SERVOPACK’s nonvolatile memory. The specified data will be written not only in the parameters in the
SERVOPACK’s nonvolatile memory but also in the parameters in the SERVOPACK’s RAM.
( 1 ) Executing/Operating Procedure
1.
Confirm all the following conditions are satisfied.
2.
Set OW 08 to 27 to execute the PPRM_WR motion command.
The SERVOPACK parameter will be overwritten.
IW
08 will be 27 during command execution.
IW 09, bit 0 will turn ON during command processing and will turn OFF when command processing is com-
pleted.
3. Set OW 08 to 0 to execute the NOP command and complete non-volatile parameter writing.
( 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
The number of times you can save to SERVOPACK’s nonvolatile memory is limited by the memory device
specifications. Use the PPRM_WR command only when it is really necessary. Otherwise, use the PRM_WR
(Write SERVOPACK Parameter) command for writing to a parameter.
Special care must be taken to set OW
50 (Servo Driver User Constant No.) to the correct number. Setting
an incorrect number may result in adverse operation.
For some parameters, the power must be turned OFF and then ON again to validate a change in the param-
eters. After having changed the settings of parameters, always turn the power OFF and then ON again.
Refer to the user’s manual of the corresponding SERVOPACK for details regarding 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
Set this parameter to 27 to write the parameter in the SERVOPACK’s nonvolatile
memory.
OW 09
Bit 0
Holds a Command This command is ignored by the PPRM_WR command.
OW 09
Bit 1
Interrupt a Command This command is ignored by the PPRM_WR command.
OW 50
Servo Driver User
Constant No.
Set the SERVOPACK parameter number to which the data will be written.
OW 51
Servo Driver User
Constant Size
Set the size of the SERVOPACK parameter to which the data will be written.
Set the size in number of words.
Example: Set 2 for 4 bytes.
OL 52
Servo Driver User
Constant Set Point
Set the data to be written in the specified SERVOPACK parameter.