Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 263)

6.4 Motion Subcommand Details
6.4.2 Read User Constant (PRM_RD)
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6.4.2 Read User Constant (PRM_RD)
The PRM_RD command reads the setting of the parameter with the specified parameter number and parameter size
from SERVOPACK RAM. It stores the parameter number in the Supplementary Servo Driver User Constant No. (mon-
itoring parameter IW
37) and the setting in the Supplementary Servo Driver User Constant Reading Data (monitor-
ing parameter IL 3A)
This command will end with a Command Error Completed Status if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2. Set OW 0A to 1 to execute the PRM_RD motion subcommand.
The PRM_RD command will read the SERVOPACK parameter and store it in the monitoring parameters.
IW
0A will be 1 during command execution.
IW 0B bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3.
Set OW 0A to 0 to execute the NOP motion command and then complete the reading operation.
( 2 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 Motion subcommand execution has been completed. IW 0A is 0 and IW 0B, bit 0 is OFF.
2 No alarms have occurred. IL 02 is 0 and IL 04 = 0
Parameter Name Setting Contents
OW 0A Motion Subcommand The SERVOPACK parameter is read when this parameter is set to 1.
OW 54
Servo Driver for Assis-
tance User Constant No.
Set the parameter number of the SERVOPACK parameter to be read.
OW 55
Servo Driver for Assis-
tance User Constant Size
Set the size of the SERVOPACK parameter to be read.
Set the size in words.
The SERVOPACK’s user manual lists the size in bytes, so those values
must be converted to words.
Parameter Name Monitoring Contents
IW 0A
Motion Subcommand
Response Code Indicates the motion subcommand that is being executed.
The response code is 1 during PRM_RD command execution.
IW 0B
Bit 0
Command Execution Flag Turns ON during PRM_RD command execution and turns OFF when execution has
been completed.
IW 0B
Bit 3
Command Error
Completed Status Turns ON if an error occurs during PRM_RD command execution. Turns OFF
when another command is executed.
IW 0B
Bit 8
Command Execution
Completed
Turns ON when PRM_RD command execution has been completed.
IW 37
Supplementary Servo
Driver User Constant No.
Stores the parameter number of the SERVOPACK parameter being read.
IL 3A
Supplementary Servo
Driver User Constant
Reading Data
Stores the SERVOPACK parameter data that was read.