Change Position Loop Integration Time Constant (Kis) - YASKAWA MP2100 Series User Manual

8.26 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
No.
1 There are no alarms.
2
Motion command execution has been completed.
Execute the KIS motion command.
• Set OW 08 to 26.
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
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 32 Position Integration
Time Constant
(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 integration time constant for the position loop is changed when this
parameter is set to 26.
This parameter is ignored for KIS command.
This parameter is ignored for KIS command.
Set the integration time constant for the position loop in milliseconds.
Name
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code will be 26 during KIS command execution.
Turns ON during KIS command execution and turns OFF when execution has
been completed.
Always OFF for KIS command.
Turns ON if an error occurs during KIS command execution. Turns OFF when
another command is executed.
Turns ON when KIS command execution has been completed.
8.26 Change Position Loop Integration Time Constant (KIS)
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 KIS 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
04 are 0.
090 is OFF.
090) cannot be used.
091) cannot be used.
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