YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.25 Change Position Loop Integral Time Constant (KIS)
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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 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 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.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English