Yaskawa MP2200 Machine Controller - Manual (Page 312)

5 Motion Commands
5.2.13 Change Speed Loop Gain (KVS)
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5.2.13 Change Speed Loop Gain (KVS)
The KVS command transfers the setting of the Speed Loop Gain (motion setting parameter
OW††2F) to the Speed Loop Gain in the SERVOPACK and enables the setting.
( 1 ) Operating Procedure
( 2 ) Holding and Aborting
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Execute the KVS motion command.
• Set OW††08 to 14.
• With the MECHATROLINK-II, there is the function that the change of
setting parameter is automatically updated. If utilizing this function,
there is no need to execute KVS command. For details, refer to bit A
(User Constants Self-Writing Function) in Fixed Parameter 1 (Function
Selection 1).
• The Command Pause (OB††090) cannot be used.
• The Command Abort (OB††091) cannot be used.
The Speed Loop Gain is set in the
SERVOPACK and enabled.
• IW††08 will be 14 during command
execution.
• IB††090 will be ON during command
execution.
Parameter change completed.
• IW††08 will be 14 and IB††090 will be
OFF.
Execute NOP motion command.
• Set OW††08 to 0.
Parameter Name Setting
OW††08 Motion Command The speed loop gain is changed when this parameter is set to 14.
OB††090 Command Pause This parameter is ignored for KVS command.
OB††091 Command Abort This parameter is ignored for KVS command.
OW††2F Speed Loop Gain Set the gain for the SERVOPACK speed control loop.