Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 46)

3.2 Commands Details
3-15
3
Commands for Preparation Process
3.2.7 Set and Save Parameters in Non-volatile Memory (PPRM_WR: 1CH)
Send a PPRM_WR command to save parameters in the SERVOPACK.
(1) PPRM_WR Command (1CH)
The specifications of the PPRM-WR command are described below.
Byte
PPRM_WR
Description
Command Response
1 1CH 1CH
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within 200 ms Subcommand Cannot be used
3
STATUS
• Saves parameters in the non-volatile memory.
• For parameters that require turning the power supply OFF and ON again
to be validated, it is necessary to send a CONFIG command to validate
the settings.
• A warning will occur and the command will be ignored in the following
cases.
- NO is out of the range: Data setting warning 1 (A.94A)
- SIZE does not match: Data setting warning 4 (A.94D)
- PARAMETER is out of the range: Data setting warning 2 (A.94B)
- When writing parameters that affect utility functions currently being
used for operations with SigmaWin or a digital operator: Command
warning 1 (A.95A)
4
5
NO NO
6
7 SIZE SIZE
8
PARAMETER PARAMETER
9
10
11
12
13
14
15
16 WDT RWDT
Do not turn off the power supply while the parameter is being written (CMDRDY = 0).