YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.15 Change Feed Forward (KFS)
6-66
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 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 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.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English