Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 223)

6.2 Motion Command Details
6.2.13 Change Speed Loop Gain (KVS)
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6.2.13 Change Speed Loop Gain (KVS)
The KVS command transfers the setting of the Speed Loop Gain (motion setting parameter OW 2F) to the Speed
Loop Gain 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 KVS command with this function. For details, refer to bit A (User Constants Self-writing Func-
tion) in 4.4.1 ( 2 ) Function Selection 1.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2. Set OW 08 to 14 to execute the KVS motion command.
The KVS command will transfer the setting of the Speed Loop Gain (motion setting parameter OW 2F) to the
Speed Loop Gain in the SERVOPACK and enables the setting.
IW
08 will be 14 during command execution.
IW 09, bit 0 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 speed
loop gain.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
When the tuning-less function of the SGDV SERVOPACK is enabled or when the SERVOPACK parameter Pn170.0 is
set to 1 (Tuning-less Function Selection is enabled), these settings are disabled and ignored.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring 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 IW 09, bit 0 is OFF.
Parameter Name Setting
OW 08 Motion Command The speed loop gain is changed when this parameter is set to 14.
OW 09
Bit 0
Holds a Command This parameter is ignored for KVS command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for KVS command.
OW 2F Speed Loop Gain Set the gain for the SERVOPACK speed control loop.
Parameter Name Monitor Contents
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code will be 14 during KVS command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during KVS command execution and turns OFF when execution has been
completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for KVS command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during KVS command execution.
Turns OFF when another command is executed.