4.2 Motion Command Details
4.2.15 KFS (Change Feedforward)
4.2.15 KFS (Change Feedforward)
The KFS command transfers the set value of the OW30 setting parameter (Speed Feed-
forward Compensation) to the Feedforward SERVOPACK parameter and enables the setting.
Important
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
2.
Set the OW08 setting parameter (Motion Commands) to 16 to execute the KFS
motion command.
The value of OW30 is transferred to the Feedforward SERVOPACK parameter and is enabled.
The IW08 monitor parameter (Motion Command Response Code) is 16 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
3.
Set OW08 to 0 to execute the NOP motion command.
This concludes the process for changing the feedforward compensation.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
Setting Parameters
Register
Address
OW
OW
Bit 0
OW
Bit 1
OW
4-74
An SVC Function Module can automatically transfer setting parameters to SERVOPACK parame-
ters when they are overwritten. The KFS command is not required if this function is used. Refer to
the following section for details.
3.4 Motion Parameter Details −
Write on page 3-29
No.
Execution Condition
1
There must be no alarms.
Motion command execution for the target axis
2
must be completed.*
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
Name
08
Motion Commands
09
Hold Command
09
Cancel Command
Speed Feedforward
30
Compensation
Function Selection Flags 1−
Set this parameter to 16 (KFS) to change the feedforward compensa-
tion.
This bit is ignored for the KFS command.
This bit is ignored for the KFS command.
Set the feedforward amount for the SERVOPACK as a percentage.
Bit A: SERVOPACK Parameter Auto-
Confirmation Method
Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
IW09 must be 0.
Setting Details