Change Feed Forward (Kfs) - YASKAWA JEPMC-MP2300-Y Series User Manual

7 Motion Commands

7.2.15 Change Feed Forward (KFS)

7.2.15 Change Feed Forward (KFS)
( 1 ) Executing/Operating Procedure
No.
1
2
( 2 ) Holding and Aborting
( 3 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW 08 Motion Command
OB 090
Command Pause
OB 091
Command Abort
Speed Feed Forward
OW 30
Compensation
7-66
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.
MECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KFS command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
There are no alarms.
Motion command execution has been completed.
2.
Set OW 08 to 16 to execute the KFS motion command.
The KFS command will transfer the setting of the Speed Feed Forward Compensation (motion
setting parameter OW
ting.
IW 08 will be 16 during command execution.
IB 090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.
3.
Set OW 08 to 0 to execute the NOP motion command and then complete the
change of the feed forward.
The Command Pause 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 (%).
Both IL
IW 08 is 0 and IB
30) to the Feed Forward in the SERVOPACK and enables the set-
090) and the Command Abort bit (OB
Setting
Confirmation Method
02 and IL 04 are 0.
090 is OFF.
091) cannot be used.