8 GCS Commands
C-863.12 Mercury Controller
MS249E
Version: 1.2.1
191
WPA (p. 205) writes parameter settings from volatile to
nonvolatile memory.
RPA resets volatile memory to the value in nonvolatile
memory.
Troubleshooting:
Illegal element identifier, wrong parameter ID, value out of
range
Notes:
With the C-863.12, you can write only one parameter per
SPA command.
Available item
IDs and parameter
IDs:
An item is an axis (the identifier can be changed with SAI
(p. 186)) or the entire system. For further information, see
"Commandable Items" (p. 12).
Valid parameter IDs are specified in the parameter
overview (p. 239).
Example 1:
Send:
SPA 1 0x411 100
Note: Sets the P term of the servo algorithm for axis 1 to
100; the parameter ID is written in hexadecimal format
Send:
SPA 1 1041 150
Note: Sets the P term of the servo algorithm for axis 1 to
150; the parameter ID is written in decimal format
Example 2:
The P, I and D parameters of the servo algorithm must be
adapted to a new load applied to the mechanics
connected.
Send:
SPA 1 0x411 150
Note: The P term is set to 150 for axis 1. The setting is
made in volatile memory only.
Use SPA to set the I and D terms in volatile memory and
then test the function of the system. If the closed-loop
system performance proves satisfactory and you want to
use this system configuration as default, save the
parameter settings from volatile to nonvolatile memory.
Send:
WPA 100
Note: See the command description for WPA (p. 205) for
details on the extent of the saved settings.