3.2 Settings for Triggers at Preset Positions
3.2.4 Making Settings with the MEM_WR Command
3
T
rigger
s
at Pr
e
s
et Po
s
ition
s
3-13
Setting Details for the Write Memory (MEM_WR: 1Eh) Com-
mand
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Common
command
Asynchronous
command
Processing Time
Σ
-7-Series
MECHATROLINK-III
Communications
Standard Servo Pro-
file Command Man-
ual (Manual No.:
SIEP S800001 31)
Subcommand
Cannot be used
Byte
MEM_WR
Description
Command
Response
0
1Eh
1Eh
•
The MEM_WR command writes the data in virtual mem-
ory by specifying the initial address, the data size and
the data for writing.
•
This command provides an adjustment function equiva-
lent to that of the ADJ command of the
MECHATROLINK-II compatible profile.
•
Confirm the completion of the command execution by
checking that RCMD = MEM_WR (= 1Eh) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for ADDRESS, SIZE, MODE/DATA_TYPE and DATA.
In the following cases, an alarm will occur and the com-
mand will not be executed.
•
When the ADDRESS data is invalid:
CMD_ALM = 9h (A.94A)
•
When the MODE/DATA_TYPE data is invalid:
CMD_ALM = 9h (A.94B)
•
When the SIZE data is invalid: CMD_ALM = 9h (A.94D)
•
When the DATA data is invalid: CMD_ALM = 9h (A.94B)
•
When the conditions for executing the adjustment oper-
ation in the next page are not satisfied: CMD_ALM=Ah
(A.95A)
•
While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
Refer to the following manual for details.
Σ
-
7-Series MECHATROLINK-III Communications
Standard Servo Profile Command Manual
(Manual No.: SIEP S800001 31)
1
WDT
RWDT
2
CMD_CTRL
CMD_STAT
3
4
Reserved
Reserved
5
MODE/DATA_-
TYPE
MODE/DATA_-
TYPE
6
SIZE
SIZE
7
8
ADDRESS
ADDRESS
9
10
11
12
DATA
DATA
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
