Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 227)

6.2 Motion Command Details
6.2.15 Change Feed Forward (KFS)
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6.2.15 Change Feed Forward (KFS)
The KFS command transfers the setting of the Speed Feed Forward Amends (motion setting parameter OW 30) to
the Feed Forward in the SERVOPACK and enables the setting.
MECHATROLINK-II has a function that automatically updates setting parameters if a parameter changes. There is
no need to execute the KFS command with this function. For details, refer to bit A (User Constants Self-writing Func-
tion) in 4.4.1 ( 2 ) Function Selection 1.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2. Set OW 08 to 16 to execute the KFS motion command.
The KFS command will transfer the setting of the Speed Feed Forward Amends (motion setting parameter
OW
30) to the Feed Forward in the SERVOPACK and enables the setting.
IW 08 will be 16 during command execution.
IW 09, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3.
Set OW 08 to 0 to execute the NOP motion command and then complete the change of the feed
forward.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
When the tuning-less function of the SGDV SERVOPACK is enabled or when the SERVOPACK parameter Pn170.0 is
set to 1 (Tuning-less Function Selection is enabled), these settings are disabled and ignored.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring 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 IW 09, bit 0 is OFF.
Parameter Name Setting
OW 08 Motion Command The feed forward value is changed when this parameter is set to 16.
OW 09
Bit 0
Holds a Command This parameter is ignored for KFS command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for KFS command.
OW 30
Speed Feed Forward
Amends
Set the amount of Servo feed forward (%).
Parameter Name Monitor Contents
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code will be 16 during KFS command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during KFS command execution and turns OFF when execution has been
completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for KFS command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during KFS command execution.
Turns OFF when another command is executed.