YASKAWA MP2200 User Manual

5
Motion Commands
5.2.15
Change Feed Forward (KFS)
5-86
5.2.15 Change Feed Forward (KFS)
The KFS command transfers the setting of the Speed Feed Forward Compensation (motion setting
parameter OW

30) to the Feed Forward 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
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
KFS
motion command.
• Set OW

08 to 16.
• 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 KFS command. For details, refer to bit A
(User Constants Self-Writing Function) in Fixed Parameter 1 (Function
Selection 1).
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
The Feed Forward is set in the SERVOPACK
and enabled.
• IW

08 will be 16 during command
execution.
• IB

090 will be ON during command
execution.
Parameter change completed.
• IW

08 will be 16 and IB

090 will be
OFF.
Execute NOP motion command.
• Set OW

08 to 0.
Parameter Name Setting
OW

08
Motion Command
The feed forward value is changed when this parameter is set to 16.
OB

090
Command Pause
This parameter is ignored for KFS command.
OB

091
Command Abort
This parameter is ignored for KFS command.
OW

30
Speed Feed Forward
Compensation
Set the amount of Servo feed forward (%).
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YASKAWA MP2200 Specifications

General

Brand	YASKAWA
Model	MP2200
Category	Controller
Language	English