4.8 Read Servo Parameter Subcommand (SVPRM_RD: 40h)
4-9
4
S
ubcommand
s
4.8
Read Servo Parameter Subcommand (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 Clas-
sification
Servo standard
command
Asynchronous
command
Processing Time
Within 200 ms
Subcommand
Byte
SVPRM_RD
Description
Command
Response
32
40h
40h
•
The SVPRM_RD subcommand reads the servo parame-
ters on specification of the servo parameter number,
data size, and the read mode.
•
Confirm the completion of the subcommand execution
by checking that RSUBCMD = SVPRM_RD (= 40h) and
SUB_STAT.SUBCMDRDY = 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:
SUBCMD_ALM = 9h(A.94A)
•
When the SIZE data is invalid:
SUBCMD_ALM = 9h (A.94D)
•
When the MODE data is invalid:
SUBCMD_ALM = 9h(A.94B)
•
While editing using SigmaWin or digital operator:
SUBCMD_ALM = Ah (A.95A)
33
SUB_CTRL
SUB_STAT
34
35
36
NO
NO
37
38
SIZE
SIZE
39
MODE
MODE
40
Reserved
PARAMETER
41
42
43
44
45
46
47
Servo Parameter Type
Reading Source
Mode Setting
Common Parameters
RAM area
00h
Device Parameter
RAM area
10h
