Yaskawa MP2200 Machine Controller - Manual (Page 344)

5 Motion Commands
5.2.25 Change Position Loop Integration Time Constant (KIS)
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5.2.25 Change Position Loop Integration Time Constant (KIS)
The KIS command transfers the setting of the Position Integration Time Constant (motion setting
parameter OW††32) to the Position Loop Integration Time Constant 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 KIS motion command.
• Set OW††08 to 26.
• 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 KIS 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 Position Loop Integration Time Constant is
set in the SERVOPACK and enabled.
• IW††08 will be 26 during command
execution.
• IB††090 will be ON during command
execution.
Parameter change completed.
• IW††08 will be 26 and IB††090 will be
OFF.
Execute NOP motion command.
• Set OW††08 to 0.
Parameter Name Setting
OW††08 Motion Command
The integration time constant for the position loop is changed when this parameter
is set to 26.
OB††090 Command Pause This parameter is ignored for KIS command.
OB††091 Command Abort This parameter is ignored for KIS command.
OW††32
Position Integration Time
Constant
Set the integration time constant for the position loop in milliseconds.