YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.13 Change Speed Loop Gain (KVS)
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6.2.13 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.
 MECHATROLINK-II has a function that automatically updates setting parameters if a parameter changes. There is
no need to execute the KVS 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 14 to execute the KVS motion command.
The KVS command will transfer the setting of the Speed Loop Gain (motion setting parameter OW2F) to the
Speed Loop Gain in the SERVOPACK and enables the setting.
IW08 will be 14 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 speed
loop gain.
( 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 or SGD7S 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 speed loop gain is changed when this parameter is set to 14.
OW09
Bit 0
Holds a Command
This parameter is ignored for KVS command.
OW09
Bit 1
Interrupt a Command
This parameter is ignored for KVS command.
OW2F Speed Loop Gain
Set the gain for the SERVOPACK speed control loop.
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 14 during KVS command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON during KVS command execution and turns OFF when execution has been
completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for KVS command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during KVS command execution.
Turns OFF when another command is executed.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English