Change Position Loop Integration Time Constant (Kis) - YASKAWA JEPMC-MP2300-Y Series User Manual

7.2.25 Change Position Loop Integration Time Constant (KIS)

The KIS command transfers the setting of the Position Integration Time Constant (motion setting
parameter OW
enables the setting.
( 1 ) Executing/Operating Procedure
No.
1 There are no alarms.
2
Motion command execution has been completed.
( 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
Position Integration
OW 32
Time Constant
32) to the Position Loop Integration Time Constant in the SERVOPACK and
MECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KIS 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
2.
Set OW 08 to 26 to execute the KIS motion command.
The KIS command will transfer the setting of the Position Integration Time Constant (motion
setting parameter OW
PACK and enables the setting.
IW 08 will be 26 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 position loop integration time.
Name
The feed forward 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.
Both IL
IW 08 is 0 and IB
32) to the Position Loop Integration Time Constant in the SERVO-
090) and the Command Abort bit (OB
Setting
7.2 Motion Command Details
Confirmation Method
02 and IL 04 are 0.
090 is OFF.
091) cannot be used.
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