YASKAWA S-7 Series, Command Manual

Page: 117 / 191

3.2 Servo Commands
3.2.18 Write Servo Parameter Command (SVPRM_WR: 41h)
3
Main Command
s
3-51
3.2.18 Write Servo Parameter Command (SVPRM_WR: 41h)
Data Format
Command Parameters
NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter write 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_WR
Description
Command Response
0 41h 41h
•
The SVPRM_WR command writes the servo parameters
on specification of the servo parameter number, data
size, and write mode.
•
Select the parameter type (common parameter or device
parameter) and the writing destination (RAM area or
retentive memory area) in the write mode to write the cor-
responding servo parameter.
•
When specifying offline parameters, the CONFIG com-
mand must be sent to set up after the parameters are
written.
However, the following parameters are not enabled even
if the CONFIG command is sent. You must turn the
power supply OFF and ON again after you change either
of these parameters.
•
Pn002 = n.X

(External Encoder Usage)
•
Pn00C (Application Function Selections C)
•
Confirm the completion of the command execution by
checking that RCMD = SVPRM_WR (= 41h) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for NO, SIZE, MODE and PARAMETER.
In the following cases, an alarm will occur and the com-
mand will not be executed.
•
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)
•
When the PARAMETER 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
PARAMETER PARAMETER
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Servo Parameter Type Writing Destination Mode Setting
Common Parameters
RAM area 00h
Retentive memory area 01h
Device Parameter
RAM area 10h
Retentive memory area 11h