Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 56)

3.2 Commands Details
3-25
3
Commands for Preparation Process
3.2.13 Read Parameters (PRM_RD: 01H)
Send a PRM_RD command to read out parameters.
(1) PRM_RD Command (01H)
The specifications of the PRM_RD command are described below.
Byte
PRM_RD
Description
Command Response
1 01H 01H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within 200 ms Subcommand Can be used
3
STATUS
• Reads out parameters.
• 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)
4
5
NO NO
6
7 SIZE SIZE
8
PARAMETER
9
10
11
12
13
14
15
16 WDT RWDT