YASKAWA S-7 Series, Command Manual

Page: 116 / 191

3.2 Servo Commands
3.2.17 Read Servo Parameter Command (SVPRM_RD: 40h)
3-50
3.2.17 Read Servo Parameter Command (SVPRM_RD: 40h)
Data Format
Command Parameters
NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter read mode
PARAMETER: Servo parameter data
Phases in which the
Command can be Executed
2, 3
Command
Classification
Servo standard
command
Asynchronous
command
Processing Time Within 200 ms Subcommand Cannot be used
Byte
SVPRM_RD
Description
Command Response
0 40h 40h
•
The SVPRM_RD command reads the servo parameters
on specification of the servo parameter number, data
size, and the read mode.
•
Select the parameter type (common parameter or device
parameter) in the read mode to read the corresponding
servo parameter.
•
Confirm the completion of the command execution by
checking that RCMD = SVPRM_RD (= 40h) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for NO, SIZE and MODE.
In the following cases, an alarm will occur. Do not read
PARAMETER in the response in these cases because the
PARAMETER value will be indefinite.
•
When the NO data is invalid: CMD_ALM = 9h (A.94A)
•
When the SIZE data is invalid: CMD_ALM = 9h (A.94D)
•
When the MODE data is invalid: CMD_ALM = 9h (A.94B)
•
While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4
SVCMD_CTRL SVCMD_STAT
5
6
7
8
SVCMD_IO SVCMD_IO
9
10
11
12
NO NO
13
14 SIZE SIZE
15 MODE MODE
16
Reserved PARAMETER
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Servo Parameter Type Reading Source Mode Setting
Common Parameters RAM area 00h
Device Parameter RAM area 10h