Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 254)

6.2 Motion Command Details
6.2.25 Change Position Loop Integral Time Constant (KIS)
6-93
Motion Commands
6.2.25 Change Position Loop Integral Time Constant (KIS)
The KIS command transfers the setting of the Position Integration Time Constant (motion setting parameter
OW
32) to the Position Integration Time Constant 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 KIS 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 26 to execute the KIS motion command.
The KIS command will transfer the setting of the Position Integration Time Constant (motion setting parameter
OW
32) to the Position Integration Time Constant in the SERVOPACK and enables the setting.
IW 08 will be 26 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 position
loop integration time.
( 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 bit0 is OFF.
Parameter Name Setting
OW 08 Motion Command The feed forward is changed when this parameter is set to 26.
OW 09
Bit 0
Holds a Command This parameter is ignored for KIS command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for KIS command.
OW 32
Position Integration
Time Constant
Set the integration time constant for the position loop in milliseconds.
Parameter Name Monitor Contents
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command Re-
sponse Cable Indicates the motion command that is being executed.
The response code will be 26 during KIS command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during KIS command execution and turns OFF when execution has been
completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for KIS command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during KIS command execution.
Turns OFF when another command is executed.