YASKAWA MP2200 User Manual

5
Motion Commands
5.2.25
Change Position Loop Integration Time Constant (KIS)
5-114
5.2.25 Change Position Loop Integration Time Constant (KIS)
The KIS command transfers the setting of the Position Integration Time Constant (motion setting
parameter OW

32) to the Position Loop Integration Time Constant 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
KIS
motion command.
• Set OW

08 to 26.
• 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 KIS 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 Position Loop Integration Time Constant is
set in the SERVOPACK and enabled.
• IW

08 will be 26 during command
execution.
• IB

090 will be ON during command
execution.
Parameter change completed.
• IW

08 will be 26 and IB

090 will be
OFF.
Execute NOP motion command.
• Set OW

08 to 0.
Parameter Name Setting
OW

08
Motion Command
The integration time constant for the position loop is changed when this parameter
is set to 26.
OB

090
Command Pause
This parameter is ignored for KIS command.
OB

091
Command Abort
This parameter is ignored for KIS command.
OW

32
Position Integration Time
Constant
Set the integration time constant for the position loop in milliseconds.
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YASKAWA MP2200 Specifications

General

Brand	YASKAWA
Model	MP2200
Category	Controller
Language	English