Yaskawa MP2200 Machine Controller - Manual (Page 316)

5 Motion Commands
5.2.15 Change Feed Forward (KFS)
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5.2.15 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
( 2 ) Holding and Aborting
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Execute the KFS motion command.
• Set OW††08 to 16.
• 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 bit A
(User Constants Self-Writing Function) in Fixed Parameter 1 (Function
Selection 1).
• The Command Pause (OB††090) cannot be used.
• The Command Abort (OB††091) cannot be used.
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††090 will be
OFF.
Execute NOP motion command.
• Set OW††08 to 0.
Parameter Name Setting
OW††08 Motion Command The feed forward value is changed when this parameter is set to 16.
OB††090 Command Pause This parameter is ignored for KFS command.
OB††091 Command Abort This parameter is ignored for KFS command.
OW††30
Speed Feed Forward
Compensation
Set the amount of Servo feed forward (%).