4.9 Write Servo Parameter Subcommand (SVPRM_WR: 41h)
4-10
4.9
Write Servo Parameter Subcommand (SVPRM_WR: 41h)
Data Format
Note: If the main command and subcommand specifying the same NO are received at the same time as new com-
mands, the main command takes precedence and the alarm specified by SUBCMD_ALM occurs for the sub-
command.
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
Byte
SVPRM_WR
Description
Command
Response
32
41h
41h
•
The SVPRM_WR subcommand writes the servo param-
eters on specification of the servo parameter number,
data size, and write mode.
•
Confirm the completion of the subcommand execution
by checking that RSUBCMD = SVPRM_WR (= 41h) and
SUB_STAT.SUBCMDRDY = 1, and also checking the
setting for NO, SIZE, MODE and PARAMETER.
In the following cases, an alarm will occur and the sub-
command will not be executed.
•
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)
•
When the PARAMETER 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
PARAMETER
PARAMETER
41
42
43
44
45
46
47
Servo Parameter Type
Reading Source
Mode Setting
Common Parameters
RAM area
00h
Nonvolatile memory area
01h
Device Parameter
RAM area
10h
Nonvolatile memory area
11h
