7.2
Motion Command Details
7-93
7.2.25 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.

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 Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.
( 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 Loop Integration Time Constant in the SERVO-
PACK and enables the setting.
IW

08 will be 26 during command execution.
IB

090 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 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.
Parameter Name Setting
OW

08
Motion Command
The feed forward 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.
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