Yaskawa JAPMC-MC2300 - Manual (Page 226)

7.3 Motion Subcommands
7.3.2 Read Fixed Parameters (FIXPRM_RD)
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7.3.2 Read Fixed Parameters (FIXPRM_RD)
The FIXPRM_RD command reads the current value of the specified fixed parameter and stores the value in the moni-
toring parameter IL
56 (Fixed Parameter Monitor).
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 0A to 5 to execute the FIXPRM_RD motion subcommand.
The FIXPRM_RD will read the specified fixed parameter’s current value and store the code in the monitoring
parameter.
IW
0A will be 5 during command execution.
IW 0B, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3. Set OW 0A to 0 to execute the NOP motion command and then complete the monitoring operation.
( 2 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 Motion subcommand execution has been completed. IW 0A is 0 and IW 0B, bit 0 is OFF.
Parameter Name Setting
OW 0A Motion Subcommand
The Read Fixed Parameter subcommand is executed when this parameter is set to
5.
OW 5C Fixed Parameter Number Set the parameter number of the fixed parameter to be read.
Parameter Name Monitor Contents
IW 0A
Motion Subcommand
Response Code Indicates the motion subcommand that is being executed.
The response code is 5 during FIXPRM_RD command execution.
IW 0B
Bit 0
Command Execution
Flag Turns ON during FIXPRM_RD command execution.
Turns OFF when execution has been completed.
IW 0B
Bit 3
Command Error
Completed Status Turns ON if an error occurs during FIXPRM_RD command execution.
Turns OFF when another command is executed.
IW 0B
Bit 8
Command Execution
Completed
Turns ON when FIXPRM_RD command execution has been completed.
IL 56
Fixed Parameter
Monitor
Stores the data of the specified fixed parameter number.