YASKAWA MP2100 Series User Manual

8.14 Change Speed Loop Gain (KVS)
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8.14 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.
(1) Operating Procedure
(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
(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 IB

090 is OFF.
Execute the
KVS
motion command.
• Set OW

08 to 14.
• With the MECHATROLINK-II, there is the function that the
change of setting parameter is automatically updated. If utilizing
this function, there is no need to execute KVS command. For
details, refer to 7.2.1 Motion Fixed Parameter Details.
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
The Speed Loop Gain is set in the
SERVOPACK and enabled.
• IW

08 will be 14 during command
execution.
• IB

090 will be ON during command
execution.
Parameter change completed.
• IW

08 will be 14 and IB

090 will be
OFF.
Execute NOP motion command.
• Set OW

08 to 0.
Parameter Name Setting
OW

08 Motion Command The speed loop gain is changed when this parameter is set to 14.
OB

090 Command Pause This parameter is ignored for KVS command.
OB

091 Command Abort 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 Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 14 during KVS command execution.
IB

090 Command Executing Turns ON during KVS command execution and turns OFF when execution has
been completed.
IB

091 Hold Completed Always OFF for KVS command.
IB

093 Command Error End Turns ON if an error occurs during KVS command execution. Turns OFF when
another command is executed.
IB

098 Command
Completed
Turns ON when KVS command execution has been completed.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English