Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 45)

3 Commands for Preparation Process
3.2.6 Set Parameters (PRM_WR: 02H)
3-14
3.2.6 Set Parameters (PRM_WR: 02H)
Send PRM_WR command to set parameters when parameters are managed by a controller.
Parameters will be set without being saved in the non-volatile memory of SERVOPACK.
(1) PRM_WR Command (02H)
The specifications of the PRM_WR command are described below.
• Example of NO
For the parameter Pn80D, the data is set in little endian as shown below.
Byte
PRM_WR
Description
Command Response
1 02H 02H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within 200 ms Subcommand Cannot be used
3
STATUS
• Writes parameters.
The parameters will not be saved in the non-volatile memory.
• For parameters that require turning the power supply OFF and ON again
to be validated, it is necessary to send a CONFIG command to validate
the settings.
• Use NO to specify the parameter to be written.
• Use SIZE to specify the number of data (bytes) of the parameter to be
written.
• PARAMETER is the data to be written.
• A warning will occur and the command will be ignored in the following
cases.
- When writing parameters that affect utility functions currently being
used for operations with SigmaWin or a digital operator: Command
warning 1 (A.95A)
- NO is set out of the range: Data setting warning 1 (A.94A)
- SIZE does not match: Data setting warning 4 (A.94D)
- PARAMETER is out of the range: Data setting warning 2 (A.94B)
4
5
NO NO
6
7 SIZE SIZE
8
PARAMETER PARAMETER
9
10
11
12
13
14
15
16 WDT RWDT
Byte Data
5 0D
6 08