Change Feed Forward (Kfs) - YASKAWA MP2100 Series User Manual

8.16 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
No.
1 There are no alarms.
2
Motion command execution has been completed.
Execute the KFS motion command.
• Set OW 08 to 16.
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
OFF.
Execute NOP motion command.
• Set OW 08 to 0.
(2) Holding and Aborting
The Command Pause bit (OB
(3) Related Parameters
(a) Setting Parameters
Parameter
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
OW 30 Speed Feed
Forward Compen-
sation
(b) Monitoring Parameters
Parameter
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command
Type Response
IB 090 Command Executing
IB 091 Hold Completed
IB 093 Command Error End
IB 098 Command
Completed
Execution Conditions
090 will be
090) and the Command Abort bit (OB
Name
The feed forward value is changed when this parameter is set to 16.
This parameter is ignored for KFS command.
This parameter is ignored for KFS command.
Set the amount of Servo feed forward (%).
Name
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code will be 16 during KFS command execution.
Turns ON during KFS command execution and turns OFF when execution has
been completed.
Always OFF for KFS command.
Turns ON if an error occurs during KFS command execution. Turns OFF when
another command is executed.
Turns ON when KFS command execution has been completed.
Confirmation Method
Both IL 02 and IL
IW 08 is 0 and IB
• 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 7.2.1 Motion Fixed Parameter Details.
• The Command Pause (OB
• The Command Abort (OB
091) cannot be used.
Setting
Monitor Contents
8.16 Change Feed Forward (KFS)
04 are 0.
090 is OFF.
090) cannot be used.
091) cannot be used.
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